제어로봇시스템학회:학술대회논문집
- 1988.10a
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- Pages.67-71
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- 1988
Robot learning control with fast convergence
빠른 수렴성을 갖는 로보트 학습제어
Abstract
We present an algorithm that uses trajectory following errors to improve a feedforward command to a robot in the iterative manner. It has been shown that when the manipulator handles an unknown object, the P-type learning algorithm can make the trajectory converge to a desired path and also that the proposed learning control algorithm performs better than the other type learning control algorithm. A numerical simulation of a three degree of freedom manipulator such as PUMA-560 ROBOT has been performed to illustrate the effectiveness of the proposed learning algorithm.
Keywords