제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.1069-1074
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- 1989
Discrete-time learning control for robotic manipulators
- Suzuki, Tatsuya (Department of Electronic Mechanical Engineering, School of Engineering, Nagoya University) ;
- Yasue, Masanori (Department of Electronic Mechanical Engineering, School of Engineering, Nagoya University) ;
- Okuma, Shigeru (Department of Electronic Mechanical Engineering, School of Engineering, Nagoya University) ;
- Uchikawa, Yoshiki (Department of Electronic Mechanical Engineering, School of Engineering, Nagoya University)
- 발행 : 1989.10.01
초록
A discrete-time learning control for robotic manipulators is studied using its pulse transfer function. Firstly, discrete-time learning stability condition which is applicable to single-input two-outputs systems is derived. Secondly, stability of learning algorithm with position signal is studied. In this case, when sampling period is small, the algorithm is not stable because of an unstable zero of the system. Thirdly, stability of algorithm with position and velocity signals is studied. In this case, we can stabilize the learning control system which is unstable in learning with only position signal. Finally, simulation results on the trajectory control of robotic manipulators using the discrete-time learning control are shown. This simulation results agree well with the analytical ones.
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