Flexible manipulator trajectory learning control with input preshaping method

Liu Deman, Atsushi Konno, Masaru Uchiyama

    研究成果: Paper査読

    4 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ページ967-972
    ページ数6
    出版ステータスPublished - 1999 12 1
    イベントProceedings of the 1999 38th SICE Annual Conference - Morioka, Jpn
    継続期間: 1999 7 281999 7 30

    Other

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

    ASJC Scopus subject areas

    • 工学(全般)

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