Flexible manipulator trajectory learning control with input preshaping method

Liu Deman, Atsushi Konno, Masaru Uchiyama

    Research output: Contribution to conferencePaper

    4 Citations (Scopus)

    Abstract

    A new discrete-time formulation of Cartesian-based iterative learning control with input preshaping method is developed in which partial knowledge of the flexible robot kinematic model is utilized. An advantage of this control method in real implementation is that it does not require the derivative of end-effector's position, i.e. the velocity of end-effector. From the characteristics and implementation points of view, it appears to be more attractive than existing control schemes. The convergence analysis is particularly addressed.

    Original languageEnglish
    Pages967-972
    Number of pages6
    Publication statusPublished - 1999 Dec 1
    EventProceedings of the 1999 38th SICE Annual Conference - Morioka, Jpn
    Duration: 1999 Jul 281999 Jul 30

    Other

    OtherProceedings of the 1999 38th SICE Annual Conference
    CityMorioka, Jpn
    Period99/7/2899/7/30

    ASJC Scopus subject areas

    • Engineering(all)

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  • Cite this

    Deman, L., Konno, A., & Uchiyama, M. (1999). Flexible manipulator trajectory learning control with input preshaping method. 967-972. Paper presented at Proceedings of the 1999 38th SICE Annual Conference, Morioka, Jpn, .