Title :
Learning control of constrained robots
Author :
Cheah, C.C. ; Wang, Danwei ; Soh, Y.C.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
The authors consider constrained robots and design a learning control algorithm to reduce both the motion and force errors iteratively. The controller improves the performance as the actions are repeated. Simulation results for a constrained cylindrical robot are presented to illustrate the controller
Keywords :
control system synthesis; force control; learning systems; position control; robots; constrained robots; control system synthesis; cylindrical robot; force control; force errors; learning control; motion control; motion errors; position control; Control system synthesis; Control systems; Error correction; Force control; Humans; Mathematical model; Motion control; Nonlinear equations; Robot control; Service robots;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225072
