Title :
Control synthesis of point-to-point robot movements by learning
Author :
Kiriazov, P. ; Marinov, P.
Author_Institution :
Inst. of Mech. & Biomech., Sofia, Bulgaria
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;
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
DOI :
10.1109/IROS.1991.174514
