Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
نویسنده
چکیده
Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feedback and feed-forward control. The eeects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simpliied model of a robot arm. Convergence and robustness aspects of the choice of lters in the updating scheme of the learning control signal are studied.
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تاریخ انتشار 1997