DocumentCode
3175676
Title
Iterative learning control of robots with elastic joints
Author
De Luca, Alessandro ; Ulivi, Giovanni
Author_Institution
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
fYear
1992
fDate
12-14 May 1992
Firstpage
1920
Abstract
The design of a repetitive learning controller for robots with elastic joints, following a frequency-domain approach, is presented. An efficient and simple iterative learning algorithm is presented, allowing solution of the output tracking problem with limited knowledge of system dynamics and using only a linear stabilizing feedback on the motor variables. Simulation results reported for a two-link planar robot under gravity showed good motion performance in this critical case
Keywords
control system synthesis; feedback; frequency-domain analysis; iterative methods; learning (artificial intelligence); position control; robots; stability; elastic joints; frequency-domain; iterative learning; linear stabilizing feedback; motion control; motor variables; output tracking; repetitive learning controller; system dynamics; two-link planar robot; Convergence; Elasticity; Frequency; Learning systems; Manipulators; Noise measurement; Robot control; Service robots; State feedback; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.219948
Filename
219948
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