On the role of high-gain feedback in P-type learning control of robot arms

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 4, 1996, Pages 602-605

  Lucibello, Pasquale ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; CLOSED LOOP CONTROL SYSTEMS; CONSTRAINT THEORY; FEEDBACK; LEARNING ALGORITHMS; PERTURBATION TECHNIQUES; ROBOT LEARNING; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

HIGH GAIN FEEDBACK; P TYPE LEARNING CONTROL SCHEME;

ROBOTIC ARMS;

EID: 0030212127     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.508443     Document Type: Article

References (14)

1. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operations of robots by learning," J. Robot. Syst., vol. 1, pp. 123-140, 1984.
2. G. Casalino and G. Bartolino, "A learning procedure for the control of movements of robotic manipulators," in Proc. IASTED Symp. Robotics and Automation, Amsterdam, The Netherlands, 1984, pp. 14-22.
3. J. J. Craig, "Adaptive control of manipulators through repeated trials," in Proc. Amer. Control Conf., 1984, pp. 1566-1573.
4. P. Bondi, G. Casalino, and L. Gambardella, "On the iterative learning control theory for robotic manipulators," IEEE J. Robot. Automat., vol. 4, pp. 14-22, 1988.
5. S. Arimoto, "Learning control theory for robotic motion," Int. J. Adaptive Contr. Signal Processing, vol. 4, pp. 543-564, 1990.
6. P. Lucibello, "A learning algorithm for hybrid force control of robot arms," in Proc. IEEE Conf. Robotics and Automation, Atlanta, GA, May 2-7, 1993, pp. 654-658.
7. P. Kokotovic, H. K. Khalil, and J. O'Reilly, Singular Perturbation Methods in Control: Analysis and Design. New York: Academic, 1986.
8. M. Aicardi, G. Cannata, and G. Casalino, "A learning procedure for position and force control of constrained manipulators," in ICAR '91, Pisa, Italy, 1991, vol. 1, pp. 423-430.
9. S. Arimoto and T. Naniwa, "Learning control for robot tasks under geometric endpoint constraints," in Proc. IEEE Int. Conf. Robotics and Automation, 1992, pp. 1914-1919.
10. W. Hahn, Stability of Motion. New York: Springer-Verlag, 1967.
11. N. H. McClamroch and D. Wang, "Feedback stabilization and tracking of constrained robots," IEEE Trans. Automat. Contr., vol. 33. no. 5, pp. 419-426, 1988.
12. A. D. Luca, C. Manes, and F. Nicolò, "A task space decoupling approach to hybrid control of manipulators," 2nd IFAC Symp. Robot Control, Karlsruhe, Germany, 1988, pp. 157-162 (preprints).
13. A. A. Cole, "Control of robot manipulators with constrained motion," in Proc. 28th Conf. Decion and Control, Tampa, FL, 1989, pp. 1657-1658.
14. K. P. Jankowsky and H. A. ElMaraghy, "Nonlinear decoupling for position and force control of constrained robots with flexible joints," in Proc. IEEE Conf. Robotics and Automation, Sacramento, CA, 1991, pp. 1226-1231.