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.
|Number of pages||6|
|Publication status||Published - 1999 Dec 1|
|Event||Proceedings of the 1999 38th SICE Annual Conference - Morioka, Jpn|
Duration: 1999 Jul 28 → 1999 Jul 30
|Other||Proceedings of the 1999 38th SICE Annual Conference|
|Period||99/7/28 → 99/7/30|
ASJC Scopus subject areas