A learning controller for robot manipulators using fourier series

IEEE Transactions on Robotics and Automation

Volumn 16, Issue 1, 2000, Pages 36-45

  Tang, Xiaoqi ^b   Cai, Lilong ^a,c   Huang, Weiqing ^c  

^a IEEE   (Hong Kong)

^b HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^c HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

Decentralized control; Fourier series; Iterative algorithm; Robot manipulators

Indexed keywords

APPROXIMATION THEORY; CONVERGENCE OF NUMERICAL METHODS; DECENTRALIZED CONTROL; ITERATIVE METHODS; LEARNING ALGORITHMS; ROBOT LEARNING; ROBOTICS;

FOURIER SERIES; ITERATIVE ALGORITHM;

MANIPULATORS;

EID: 0033897578     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.833186     Document Type: Article

References (24)

1. J. E. Marsden, Elementary Classic Analysis. San Francisco, CA: Freeman, 1973.
2. H. Asada, Direct-Drive Robots Theory and Practice. Cambridge, MA: MIT Press, 1987.
3. D. T. Gavel and D. D. Siljak, "Decentralized adaptive control: Structural conditions for stability," IEEE Trans. Automat. Contr., vol. 34, pp. 413-426, Apr. 1989.
4. A. Data, "Performance improvement in decentralized adaptive control: A modified model reference scheme," IEEE Trans. Automat. Contr., vol. 38, pp. 1717-1722, Nov. 1993.
5. R. Ortega and A. Herrera, "A solution to the decentralized adaptive stabilization problem," Syst. Contr. Lett., vol. 20, pp. 299-306, Apr. 1993.
6. H. Seraji, "Decentralized adaptive control of manipulators Theory, simulation and experimentation," IEEE Trans. Robot. Automat., vol. 5, pp. 183-201, Apr. 1989.
7. R. Colbaugh, H. Seraji, and K. Glass, "Decentralized adaptive control of manipulators," J. Robot. Syst., vol. 11, no. 5, pp. 425-440, 1994.
8. M. E. Magana and S. Tagnmi, "An improved trajectory tracking decentralized adaptive controller for robot manipulators," IEEE Trans. Ind. Electron., vol. 41, pp. 477-482, Oct. 1994.
9. L. C. Fu, "Robust adaptive decentralized control of robot manipulators," IEEE Trans. Automatic Contr., vol. 37, pp. 106-110, Jan. 1992.
10. R. Colbaugh and K. Glass, "Decentralized adaptive compliance control of robot manipulators," Robotica, pt. 5, vol. 13, pp. 485-498, 1995.
11. Y. Jin, "Decentralized adaptive fuzzy control of robot manipulators," IEEE Trans. Syst., Man, Cybern. B, vol. 28, no. 1, pp. 47-57, Feb. 1998.
12. L. Cai and X. Tang, "A model-free decentralized control for robot manipulators," in Proc. IEEE Conf. Robot. Automat., vol. 4, 1997, pp. 3106-3111.
13. H. J. Park and H. S. Cho, "On the realization of an accurate hydraulic servo through an iterative learning control," Mechatron., vol. 2, no. 1, pp. 75-78, 1992.
14. S. Arimoto, "Mathematical theory of learning with applications to robot control," in Proc. 4th Yale Workshop on Applications of Adaptive Systems, New Haven, CT, May 1985, pp. 379-388.
15. T. Mita and E. Kato, "Iterative control and its application to motion control of robot arm (a direct approach to servo-problems)," in Proc. 24th Conf. on Decision and Control, Ft. Lauderdale, FL, 1985, pp. 1393-1398.
16. J. W. Lee, H.-S. Lee, and Z. Bien, "Iterative learning control with feedback using Fourier series with application to robot trajectory tracking," Robotica, vol. 11, pp. 291-298, 1993.
17. M. Tomizuka, "Zero phase error tracking algorithm for digital control," ASME J. Dyn. Syst., Meas Contr., vol. 109, pp. 65-68, 1987.
18. K. Chew and M. Tomizuka, "Digital control of repetitive errors in disk-driver system," IEEE Contr. Syst. Mag., vol. 10, pp. 16-20, Jan. 1990.
19. T. Kavli," Frequency domain synthesis of trajectory learning controllers for robot manipulators," J. Robot. Syst., vol. 9, pp. 663-680, 1992.
20. ∞ approach to learning control systems," Int. J. Adaptive Contr. Signal Processing, vol. 4, pp. 465-474, 1990.
21. D. Gorinevsky, D. E. Torfs, and A. A. Goldenberg, "Learning approximation of feedforward control dependence on the task parameters with application to direct-drive manipulator tracking," IEEE Trans. Robot. Automat., vol. 13, pp. 567-581, Aug. 1997.
22. N. Sadegh and K. Guglielmo, "A new repetitive controller for mechanical manipulators," J. Robot. Syst., vol. 8, no. 4, pp. 507-529, 1991.
23. N. Sadegh, R. Orowitz, W.-W. Kao, and M. Tomizuka, "A unified approach to the design of adaptive and repetitive controllers for robotic manipulators," Trans. ASME J. Dyn. Syst., Measur. Contr., vol. 112, no. 4, pp. 618-629, 1990.
24. S. Arimoto, S. Kawamura, and F. Miyazaki, "Bettering operation of robots by earning," J. Robot. Syst., vol. 1, pp. 123-140, 1984.