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A model algorithmic learning method for continuous-path control of a robot manipulator

Published online by Cambridge University Press:  09 March 2009

Sang–Rok Oh ,
Zeungnam Bien  and
Il Hong Suh
Sang–Rok Oh
Affiliation:
Power Controls Lab., Kaist P.O. Box 131, Chongyangni, Seoul 136–791 (Korea).
Zeungnam Bien
Affiliation:
Dept. of Electrical Engineering, Kaist, Seoul 130–650 (Korea).
Il Hong Suh
Affiliation:
Dept. of Electronic Engineering, Hanyang Univ., Seoul (Korea).
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Summary

A new type of an iterative learning control method is proposed for dynamic systems with uncertain parameters. The method, which employs the model algorithmic control concept in the iteration sequence, is shown to be convergent for linear time-varying systems. Then the method is shown to be applicable for continuous-path control of a robot manipulator.

Keywords

Algorithmic learningContinuous pathControlRobot
Type
Article
Information
Robotica , Volume 8 , Issue 1 , January 1990 , pp. 31 - 36
Copyright
Copyright © Cambridge University Press 1990

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