Title :
A discrete learning algorithm for robot motion control with both position and velocity sensing
Author :
Tso, S.K. ; Ma, Y.X.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
Abstract :
With a view to improving the quality of learning and simplifying the iterative learning controller implementation, a new discrete strategy for robot motion control is proposed. A systematic means is devised to merge the position and velocity data in consecutive cycles for effective learning control. The convergence property is also established
Keywords :
convergence; learning systems; position control; position measurement; robots; velocity measurement; convergence; discrete learning algorithm; learning control; position control; position measurement; position sensing; robot motion control; velocity measurement; velocity sensing; Automatic control; Control systems; Iterative algorithms; Manipulator dynamics; Motion control; Robot control; Robot motion; Robotics and automation; Service robots; Velocity control;
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.1991.174549
