제어로봇시스템학회:학술대회논문집
- 1989.10a
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- Pages.1097-1112
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- 1989
A computed torque method incorporating an iterative learning scheme
Abstract
An iterative learning control scheme is incorporated to the computed torque method as a means to enhance the accuracy and the flexibility. A learning rule is constructed by utilizing a gradient descent algorithm and data compressing techniques are illustrated. Computer simulation results show a good performance of the scheme under a relatively high speed and a heavy payload condition.
Keywords