Title :
Learning and approximation in database for feedforward control of flexible manipulator
Author :
Gorinevsky, D.M.
Author_Institution :
Tech Univ., Munchen, Germany
Abstract :
The author considers a new method for feedforward programmed control of a robotic system with complex dynamics. The method uses a learning procedure and a database for previously learned controls rather than a mathematical model of the system. For point-to-point control of a two-link flexible-joint manipulator, the method results in a fairly little amount of learning and database storage memory.<>
Keywords :
approximation theory; database management systems; distributed parameter systems; large-scale systems; learning (artificial intelligence); robots; approximation; complex dynamics; database; feedforward programmed control; flexible manipulator; learning; point-to-point control; two-link flexible-joint manipulator; Computational complexity; Control systems; Databases; Feedback control; Manipulator dynamics; Mathematical model; Payloads; Position control; Robot control; Torque control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240679
