Abstract
This paper describes the learning control method of a parallellink direct-drive robot manipulator. The acceleration error is used to correct the motion of the direct-drive motors. A theoretical method, which estimates the convergent limit of the learning control process based on the limit of a geometric series, is proposed. The validity of this proposed theory is proven through computer simulation; it is then applied to the practical system of a parallel-link direct-drive robot manipulator. The convergent limit of a learning control system can be quantitatively estimated by the divergent coefficient which is denned in this study.
Original language | English |
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Pages (from-to) | 382-388 |
Number of pages | 7 |
Journal | transactions of the japan society of mechanical engineers series c |
Volume | 55 |
Issue number | 510 |
DOIs | |
Publication status | Published - 1989 |
Externally published | Yes |
Keywords
- Direct-Drive
- Iterative Operation
- Learning Control
- Robot Manipulator
- Trajectory Control
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering