منابع مشابه
Cerebellar Control of Robot Arms
Decades of research into the structure and function of the cerebellum have led to a clear understanding of many of its cells, as well as how learning takes place. Furthermore, there are many theories on what signals the cerebellum operates on, and how it works in concert with other parts of the nervous system. Nevertheless, the application of computational cerebellar models to the control of ro...
متن کاملCyclic control of robot arms
The problem of moving a rigid robot arm along a finite sequence of equilibrium points, with the last point coincident with the first one, is investigated. Such a sequence, referred to as a cycle, is to be repeated over and over in time, and a controller is sought which improves system performance by using positioning errors. Differently from learning control, no system initialization is require...
متن کاملCyclic Control of Robot Arms 1
The problem of moving a rigid robot arm along a finite sequence of equilibrium points, with the last point coincident with the first one, is investigated. Such a sequence, referred to as a cycle, is to be repeated over and over in time, and a controller is sought which improves system performance by using positioning errors. Differently from learning control, no system initialization is require...
متن کاملAdaptive Control for Multiple Cooperative Robot Arms
,2= Abstract In this paper, we address the control problem of multiple robots manipulating a load cooperatively. First we propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. Next we propose an adaptive control scheme for the multi-robot system. The adaptive controller ensures the asymptotic convergence of the load po...
متن کاملLearning Motor Control for Simulated Robot Arms
Controlling a high degree of freedom humanoid robot arm to be dextrous and compliant in its movements is a critical task in robot control. The dynamics of such flexible and light manipulators have a highly non-linear nature, making analytical closed form solutions using rigid body assumptions inappropriate. In this thesis, we use Locally Weighted Projection Regression to learn online the invers...
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ژورنال
عنوان ژورنال: Connection Science
سال: 1998
ISSN: 0954-0091,1360-0494
DOI: 10.1080/095400998116468