제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A new learning control of robot manipulators

  • Ham, C. (Dept. of Electrical and Computer Eng., Univ. of Central Florida) ;
  • Qu, Z. (Dept. of Electrical and Computer Eng., Univ. of Central Florida) ;
  • Park, M. (Dept. of Electronic Engineering, Yonsei University)
  • Published : 1994.10.01
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Abstract

This paper illustrates a new learning control for robot manipulators using Lyapunov direct method. It has been shown that under the proposed learning control robot manipulators are always guaranteed to be asymptotically stable with respect to the number of trials. The proposed control is also robust in the sense that the exact knowledge of the nonlinear dynamics is not required except for bounding functions on the magnitude.

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