Title :
New aspects of Iterative Learning Control
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Shiga, Japan
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;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
