抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 382-388 |
| ページ数 | 7 |
| ジャーナル | transactions of the japan society of mechanical engineers series c |
| 巻 | 55 |
| 号 | 510 |
| DOI | |
| 出版ステータス | Published - 1989 |
| 外部発表 | はい |
ASJC Scopus subject areas
- 材料力学
- 機械工学
- 産業および生産工学