LEARNING CONTROL FOR ROBOT MANIPULATORS
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F09%3A%230001267" target="_blank" >RIV/46747885:24220/09:#0001267 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
LEARNING CONTROL FOR ROBOT MANIPULATORS
Original language description
In this paper it is considered an iterative learning control algorithm for trajectory tracking of robots with unknown parameters, as masses of links or inertial momentums etc. The control schemes are based on using of a proportional derivative feedback,for which an iterative term is added to cope with the unknown parameters and disturbances. The control design is simple in the sense that only requirements on the PD and learning gains are the positive definiteness considerations. Arbitrary bounds of therobot parameters are not needed. In common algorithms the number of iterative variables are equal to the number of control inputs, but in this paper this one are defalcated only on two.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Engineering Mechanics 2009
ISBN
978-80-86246-35-2
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
Institute of Theoretical and Applied Mechanics, v.v.i., Academy of Sciences of the Czech Republic, Prague
Place of publication
Prague, Czech Republic
Event location
Svratka, Czech Republic
Event date
Jan 1, 2009
Type of event by nationality
CST - Celostátní akce
UT code for WoS article
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