ON THE LEARNING CONTROL OF A ROBOT MANIPULATOR

被引：8
|
作者：
DAWSON, DM
QU, Z
DORSEY, JF
LEWIS, FL
机构：
[1] School of Electrical Engineering, Georgia Institute of Technology, Atlanta, 30332, GA
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1991年 / 4卷 / 01期
关键词：
ROBOTS; CONTROL; LEARNING; TRACKING CONTROL; COMPUTED-TORQUE CONTROL; ROBUSTNESS;
D O I：
10.1007/BF00452101
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.
引用
收藏
页码：43 / 53
页数：11
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