Trajectory control of robot arms with current learning.
نویسندگان
چکیده
منابع مشابه
Inversion techniques for trajectory control of flexible robot arms
A general framework is given for computing the torques that are needed for moving a flexible arm exactly along a given trajectory. This torque computation requires a dynamic generator system, as opposed to the rigid case, and can be accomplished both in an openor in a cbsed-loop fashion. In the open-loop case, the dynamic generator is the full or reduced order inverse system associated to the a...
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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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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...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1989
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.7.3_185