徐进学, 柴天佑, 谈大龙. 机器人的一种离散学习控制算法的研究[J]. 机器人, 1998, 20(2): 116-122.
引用本文: 徐进学, 柴天佑, 谈大龙. 机器人的一种离散学习控制算法的研究[J]. 机器人, 1998, 20(2): 116-122.
XU Jinxue, CHAI Tianyou, TAN Dalong. THE STUDY ON A DISCRETE LEARNING CONTROL ALGORITHM FOR ROBOTIC MANIPULATORS[J]. ROBOT, 1998, 20(2): 116-122.
Citation: XU Jinxue, CHAI Tianyou, TAN Dalong. THE STUDY ON A DISCRETE LEARNING CONTROL ALGORITHM FOR ROBOTIC MANIPULATORS[J]. ROBOT, 1998, 20(2): 116-122.

机器人的一种离散学习控制算法的研究

THE STUDY ON A DISCRETE LEARNING CONTROL ALGORITHM FOR ROBOTIC MANIPULATORS

  • 摘要: 本文基于关节空间提出了机器人的一种离散学习控制算法.此算法仅仅利用了部分机器人动力学模型知识,基于关节空间的加速度信号构成迭代学习律,并给出了算法的收敛性证明.仿真表明了算法的有效性.

     

    Abstract: This paper presents a discrete learning control algorithm for robotic manipulators based on the joint space. The algorithm only uses the partial knowledge of robot dynamics to constitute the iterative learning control law on the basis of the acceleration signals of the joint space. The paper gives the convergence proof of the algorithm. The simulation results demonstrate the effectiveness of the algorithm.

     

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