Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1996.11a
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- Pages.386-388
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- 1996
A Learning Controller Implementation for Robot Manipulators to track the desired trajectory
로보트 메니플레이터의 목표궤적 추종을 위한 학습제어기 구현
- Cho, Hyeong-Ki (Dept. of Electric & Electronic Engineering Ajou-Univ.) ;
- Gil, Jin-Soo (Dept. of Electric & Electronic Engineering Ajou-Univ.) ;
- Hong, Suk-Kyo (Dept. of Electric & Electronic Engineering Ajou-Univ.)
- Published : 1996.11.16
Abstract
This paper presents the learning controller for robot manipulators to track the desired trajectory exactly. The learning controller, based on the Lyapunov theory, consists of a fixed PD action and a repetitive action for the purpose of feedforward compensation which is adjusted utilizing a linear combination of the velocity and position errors. The learning controller Is often used In case of the desired trajectories are periodic tasks, and has advantage that it periodically converges to zero even if we don't know the exact dynamic parameters. In this paper, we show that the position and velocity errors of robot manipulators converge to zero sa time goes infinite for the input is periodic function and show a good trajectory tracking performance In the cartesian space.
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