An Iterative Learning Control of Robot Manipulators

IEEE Transactions on Robotics and Automation

Volumn 7, Issue 6, 1991, Pages 835-842

  Kuc, Tae Yong ^a   Nam, Kwanghee ^a   Lee, Jin S ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; DYNAMICS; LEARNING SYSTEMS; LYAPUNOV METHODS; MANIPULATORS; NUMERICAL METHODS;

FEEDFORWARD LEARNING CONTROLLER; GRADIENT DESCENT RULE; ITERATIVE LEARNING CONTROL; LINEAR TIME-VARYING SYSTEM;

ROBOTS;

EID: 0026364744     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.105392     Document Type: Article

References (21)

1. J. S. Albus, Brains, Behavior, and Robotics. New York: Byte Books, 1981.
2. “Theoretical and experimental aspects of a cerebellar model,” Ph.D. dissertation, Univ. of Maryland, 1972.
3. S. Arimoto, S. Kawamura, and F. Miyasaki, “Bettering operation of robots by learning,” J. Robotic Syst., pp. 123-140, 1984.
4. S. Arimoto and F. Miyasaki, “Stability of robustness of PID feedback control for robot manipulators of sensory capability,” in Proc. 1st Int. Symp. Robotic Res., 1983.
5. B. Armstrong, Q. Khatib, and J. Burdick, “The explicit dynamic model and inertial parameters of the PUMA 560 arm,” in Proc. IEEE Robotics Automat. Conf., 1986.
6. A. K. Bejezy, “Robot arm dynamics and control,” Tech. Memo. 33-669, Jet Propulsion Lab., Pasadena, CA, 1974.
7. P. Bondi, G. Casaline, and L. Gambardella, “On the iterative learning control theory for robotic manipulators,” IEEE J. Robotics Automat., vol. 4, no. 1, Feb. 1988.
8. G. Casalino and G. Bartolini, “A learning procedure for the control of movements of robotic manipulators,” presented at IASTED Symp. Robotics Automat., Amsterdam, The Netherlands, June 1984.
9. J. J. Craig, “Adaptive control of manipulators through repeated trials,” in Proc. Amer. Control Conf. (San Diego, CA), June 1984.
10. Introduction to Robotics: Mechanics and Control. Reading, MA: Addison-Wesley, 1986.
11. J. J. Craig, P. Hsu, and S. Sastry, “Adaptive control of mechanical manipulators,” presented at IEEE Int. Conf. Robotics and Automat., San Francisco, CA, 1986.
12. S. V. Gusev, “Linear stabilization of nonlinear systems: Program motion,” Syst. Contr. Lett., vol. 11, pp. 409-412, 1988.
13. S. Kawamura, F. Miyazaki, and S. Arimoto, “Realization of robot motion based on a learning method,” IEEE Trans. Syst. Man. Cybern., vol. 18, no. 1, Jan./Feb. 1988.
14. M. Kawato, Y. Uno, M. Isobe, and R. Suzuki, “Hierarchical neural network model for voluntary movement with application to robotics,” IEEE Control Syst. Mag., Apr. 1988.
15. T. Kuc and K. Nam, “CMAC based iterative learning control of robot manipulators,” presented at IEEE CDC, Tampa, FL, Dec. 1989.
16. C. S. G. Lee and M. J. Chung, “An adaptive control strategy for mechanical manipulators,” IEEE Trans. Automat. Contr., vol. AC-29, pp. 837-840, 1984.
17. W. T. Miller, III, F. H. Glanz, and L. G. Kraft, III, “Application of a general learning algorithm to the control of robotic manipulators,” Int. J. Robotics Res., vol. 6, no. 2, Summer 1987.
18. H. Miyamoto, M. Kawato, T. Setoyama, and R. Suzuki, “Feedback-error-learning neural network for trajectory control of a robot manipulator,” IEEE Trans. Neural Networks, vol. 1, pp. 251-265, 1988.
19. S. Oh, Z. Bien, and I. H. Suh, “An iterative learning control method with application for the robot manipulator,” IEEE J. Robotics Automat., vol. 4, no. 5, Oct. 1988.
20. J.-J. E. Slotine and W. Lee, “Composite adaptive control of robot manipulators,” Automatica, vol. 25, no. 4, pp. 509-519, 1989.
21. X. Wang and L. Chen, “Proving the uniform boundedness of some commonly used control scheme for robot,” presented at IEEE Int. Conf. Robotics Automat., Scottsdale, AZ, May 1980.