DocumentCode
504234
Title
New aspects of Iterative Learning Control
Author
Kawamura, Sadao
Author_Institution
Dept. of Robot., Ritsumeikan Univ., Shiga, Japan
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
3083
Lastpage
3088
Abstract
This paper points out two new aspects of ILC (iterative learning control). One is to find out new applications of ILC and the other is to use feedforward input patterns obtained through ILC in order to generate new motions of robots. As new applications, passive human motions and underwater robot arm motions are explained in this paper. As the use of feedforward input patterns, the key ideas of a time-scale transformation method and a space-scale transformation method are explained.
Keywords
adaptive control; feedforward; iterative methods; learning systems; manipulator dynamics; mobile robots; motion control; underwater vehicles; ILC; feedforward input pattern; inverse dynamics; iterative learning control; passive human motion; robot motion generation; space-scale transformation method; time-scale transformation method; underwater robot arm motion control; Friction; Humans; Joints; Manipulator dynamics; Mechanical systems; Motion control; Orbital robotics; Parameter estimation; Robots; Torque; Applications; Inverse dynamics; Iterative learning control;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5332963
Link To Document