Learning Control of a Parallel-Link Direct-Drive Robot Manipulator

Yasuo Konishi, Tojiro Aoyama, Ichiro Inasaki

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)382-388
Number of pages7
Journaltransactions of the japan society of mechanical engineers series c
Issue number510
Publication statusPublished - 1989
Externally publishedYes


  • Direct-Drive
  • Iterative Operation
  • Learning Control
  • Robot Manipulator
  • Trajectory Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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