Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2005.11.4.330

Intelligent Control of Robot Manipulators by Learning  

Lee DongHun (성균관대학교 정보통신학부)
Kuc TaeYong (성균관대학교 정봉통신학부)
Chung ChaeWook (안산공과대학 컴퓨터정보계열)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.4, 2005 , pp. 330-336 More about this Journal
Abstract
An intelligent control method is proposed for control of rigid robot manipulators which achieves exponential tracking of repetitive robot trajectory under uncertain operating conditions such as parameter uncertainty and unknown deterministic disturbance. In the learning controller, exponentially stable learning algorithms are combined with stabilizing computed error feedforward and feedback inputs. It is shown that all the error signals in the learning system are bounded and the repetitive robot motion converges to the desired one exponentially fast with guaranteed convergence rate. An engineering workstation based control system is built to verify the effectiveness of the proposed control scheme.
Keywords
learning controller; robot manipulator; exponential tracking; uncertainty;
Citations & Related Records
연도 인용수 순위
  • Reference
1 S. Sastry and M. Bodson, Adaptive Control: Stability, Convergence and Robustness, Prentice-Hall, New Jersey: Prentice-Hall Inc., 1989
2 J. J. E. Slotine and W. Lee 'Composite adaptive control of robot manipulators,' Automatica, vol. 25, no. 4, pp. 509-519, 1989   DOI   ScienceOn
3 Y. D. Song, R. H. Middleton and J. N. Anderson 'Study on the exponential path tracking control of robot manipulators via direct adaptivr methods,' IEEE Int. Conf. on Robotics and Automation, Sacramento, USA, Apr. 1991   DOI
4 M. W. Spong and R. Ortega 'On adaptive inverse dynamics control of rigid robots,' IEEE Trans. on Automat. Contr., vol. 35, no. 1, pp. 92-95, 1990   DOI   ScienceOn
5 M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, New York: Wiley, 1989
6 K. L. Moore, M. Dahleh and S, P. Bhattacharyya 'Iterative learning control: a survey and new results,' Journal of Robotic Systems, vol. 9, no. 5, pp. 563-594, 1992   DOI
7 B. Park, T. Kuc and J. Lee 'Adaptive learning control of uncertain robot manipulators,' Int. J. Contr., vol. 65, no. 5, pp. 725-744, 1996   DOI   ScienceOn
8 J. S. Reed and P. A. Iaonnou 'Instability analysis and robust adaptive cont개l of robot manipulators,' IEEE Trans. om Robotics and Automation, vol. 5, pp. 381-385, 1989   DOI
9 N. Sadegh and R. Horowitz 'Stability and robustness analysis of a class of adaptive controllers for robotic manipulators,' Int. J. Robot. Res., vol. 9, no. 3, pp. 74-92, 1990   DOI
10 N. Sadegh, R. Horowitz, W, Kao and M. Tomizuka 'A unified approach to the design of adaptive and repetitive controllers for robotic manipulators,' ASME J. of Dynamic Systems, Measurement and Control, vol. 112, pp. 618-629, 1990   DOI
11 T. Kuc, J. Lee and B. Park 'Tuning convergence rate of a robust learning controller for robot manipulators,' IEEE Conf. Dec. Contr., New Orleans, USA, pp. 1714-1719, 1995   DOI
12 J. J. Craig, P. Hsu and S. S. Sastry, 'Adaptive control of mechanical manipulators,' IEEE Conf. on Robotics and Automation, CA, USA, pp. 190-195, 1986
13 R. Horowitz, W. Messener and J. Moore, 'Exponential convergence of a learning controller for robot manipulators,' IEEE Trans. Automat. Contr., vol. 36, no. 7, pp. 890-894, 1991   DOI   ScienceOn
14 T.Kuc and J.Lee 'An Adaptive Learning Control of Robot Manipulators,' IEEE Conf. Dec. Contr., U.K., pp. 1206-1211, 1991
15 M. Liu, 'Computed torque scheme based adaptive tracking for robot manipulators,' IEEE Int. Conf. on Robotics and Automation, pp. 587-590, 1995   DOI
16 P. Bondi, G. Casalino and L. Gambardella, 'On the iterative learning control theory for robotic Manipulators,' IEEE J. Robot. Automat., vol. 4, no. 1, pp. 14-22, 1988   DOI   ScienceOn
17 W. Messner, R. Horowitz, W. Kao and M. Boals 'A new adaptive learning rule,' IEEE Conf. on Robotics and Automation, pp. 1522-1527, 1990   DOI
18 R. H. Middelton and G. C. Goodwin 'Adaptive computed torque control for rigid-link manipulations,' System and Control Letters, vol. 10, pp. 9-16, 1988   DOI   ScienceOn
19 S. Arimoto, S. Kawamura, and F. Miyazaki, 'Bettering operation of robots by learning,' Journal of Robotic Systems, vol. 1, no. 2, pp. 123-140, 1984   DOI
20 Z. Bien and J. X. Xu, Iterative learning control-Analysis, Design, Intergration and Applications, Boston: Kluwer Academic Pub., 1998