Iterative Learning of Feasible Time-optimal Trajectories for Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Optimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
متن کاملoptimal discrete-time control of robot manipulators in repetitive tasks
optimal discrete-time control of linear systems has been presented already. there are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. this paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. the robot performs repetit...
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In this paper, usin a Lyapunov-like function, we derive a disturbance observer based iterative learning control scheme for the trajectory tracking problem of rigid robot manipulator. In this control scheme, the whole control law consists of two parts, the feedback control law, plus an iteratively updated term represents the estimated disturbance. The feedback control law using in this paper is ...
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Based on a combination of a PD controller and a switching type two-parameter compensation force, an iterative learning controller with a projection-free adaptive algorithm is presented in this paper for repetitive control of uncertain robot manipulators. The adaptive iterative learning controller is designed without any a priori knowledge of robot parameters under certain properties on the dyna...
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ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2017
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2017.08.2123