Title :
Iterative control of three link manipulator using 2D system control approach
Author :
Yamada, Minoru ; Xu, Li ; Saito, Osami
Author_Institution :
Gifu Nat. Coll. of Technol., Japan
Abstract :
Iterative control systems can be viewed as 2D (2 dimensional) systems because the iterative control has two kinds of dynamics. This study uses 2D control theory to design an iterative controller such that a three link robot manipulator tracks trajectory which is constant or changes at each repetition. Experimental results are shown.
Keywords :
adaptive control; control system synthesis; iterative methods; learning systems; manipulators; multidimensional systems; optimal control; position control; servomechanisms; 2D system control; iterative controller system design; optimal control; servomechanisms; three link robot manipulator; trajectory control;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
