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.
|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 28 → 1999 7 30
|Other||Proceedings of the 1999 38th SICE Annual Conference|
|Period||99/7/28 → 99/7/30|
ASJC Scopus subject areas