An Iterative Learning Control Method with Application for the Robot Manipulator

Title
An Iterative Learning Control Method with Application for the Robot Manipulator
Authors
오상록변증남서일홍
Issue Date
1988-10
Publisher
IEEE journal of robotics and automation
Citation
VOL 4, NO 5, 508-514
Abstract
An iterative learning control method is presented for a class of linear periodic systems, in which a parameter estimator of the system together with an inverse system model is utilized to generate the control signal at each iteration. A convergence proof is given and two numerical examples are presented to show the validity of the algorithm. In particular, it is shown that the method is useful for the continuous path control of robot manipulators.
URI
http://pubs.kist.re.kr/handle/201004/45682
ISSN
08824967
Appears in Collections:
KIST Publication > Article
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