제어로봇시스템학회:학술대회논문집
- 1988.10b
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- Pages.999-1005
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- 1988
An application of the CMAC to robot control
- Nam, Kwang-Hee (Department of Electrical Engineering, POSTECH) ;
- Kuc, Tae-Yong (Department of Electrical Engineering, POSTECH)
- Published : 1988.10.01
Abstract
An iterative learning control scheme is presented with the aid of CMAC module. By enforcing the role of linear controller with the introduction of velocity feedback, it becomes possible to make the trajectory error equation stable. One advantage of this control scheme is that it does not require acceleration feedback. Computer simulation results shows a good performance of the scheme even in the case where the gravity is not compensated.
Keywords