Artigo Revisado por pares

Learning Control of Robot Manipulators

1993; ASM International; Volume: 115; Issue: 2B Linguagem: Inglês

10.1115/1.2899080

ISSN

1528-9028

Autores

Roberto Horowitz,

Tópico(s)

Robotic Mechanisms and Dynamics

Resumo

Learning control encompasses a class of control algorithms for programmable machines such as robots which attain, through an iterative process, the motor dexterity that enables the machine to execute complex tasks. In this paper we discuss the use of function identification and adaptive control algorithms in learning controllers for robot manipulators. In particular, we discuss the similarities and differences between betterment learning schemes, repetitive controllers and adaptive learning schemes based on integral transforms. The stability and convergence properties of adaptive learning algorithms based on integral transforms are highlighted and experimental results illustrating some of these properties are presented.

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