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

Yasuo Konishi; Tojiro Aoyama; Ichiro Inasaki

doi:10.1299/kikaic.55.382

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

Yasuo Konishi
, Tojiro Aoyama
, Ichiro Inasaki

Research output: Contribution to journal › Article › peer-review

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
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	https://doi.org/10.1299/kikaic.55.382
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

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10.1299/kikaic.55.382

Cite this

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title = "Learning Control of a Parallel-Link Direct-Drive Robot Manipulator",

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.",

keywords = "Direct-Drive, Iterative Operation, Learning Control, Robot Manipulator, Trajectory Control",

author = "Yasuo Konishi and Tojiro Aoyama and Ichiro Inasaki",

note = "Funding Information: The authors would like to thank Professor Dr. N. Kunimatu for his comments and suggestion on drafts of this paper. This work was supported by Nippon Seiko K.K. and the Matsuda Foundation.",

year = "1989",

doi = "10.1299/kikaic.55.382",

language = "English",

volume = "55",

pages = "382--388",

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TY - JOUR

T1 - Learning Control of a Parallel-Link Direct-Drive Robot Manipulator

AU - Konishi, Yasuo

AU - Aoyama, Tojiro

AU - Inasaki, Ichiro

N1 - Funding Information: The authors would like to thank Professor Dr. N. Kunimatu for his comments and suggestion on drafts of this paper. This work was supported by Nippon Seiko K.K. and the Matsuda Foundation.

PY - 1989

Y1 - 1989

N2 - 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.

AB - 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.

KW - Direct-Drive

KW - Iterative Operation

KW - Learning Control

KW - Robot Manipulator

KW - Trajectory Control

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UR - https://www.scopus.com/pages/publications/0024608095#tab=citedBy

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DO - 10.1299/kikaic.55.382

M3 - Article

AN - SCOPUS:0024608095

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VL - 55

SP - 382

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JO - transactions of the japan society of mechanical engineers series c

JF - transactions of the japan society of mechanical engineers series c

IS - 510

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

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