DocumentCode
2803806
Title
Control synthesis of point-to-point robot movements by learning
Author
Kiriazov, P. ; Marinov, P.
Author_Institution
Inst. of Mech. & Biomech., Sofia, Bulgaria
fYear
1991
fDate
3-5 Nov 1991
Firstpage
469
Abstract
A natural learning control scheme for point-to-point robot control tasks is proposed. A trial set of properly defined linear-spline control functions is employed and the aiming of target is performed by means of the last switching times. The correction is based on a globally convergent bisection method. Existence of feasible solutions is discussed
Keywords
control system synthesis; learning systems; position control; robots; splines (mathematics); control system synthesis; globally convergent bisection; learning control; linear-spline control functions; point-to-point robot movements; position control; target aiming; Acceleration; Control systems; Controllability; Energy loss; Equations; Manipulators; Optimal control; Performance analysis; Robot control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174514
Filename
174514
Link To Document