Learning of robot tasks on the basis of passivity and impedance concepts

Robotics and Autonomous Systems

Volumn 32, Issue 2, 2000, Pages 79-87

  Arimoto, Suguru ^a   Nguyen, P T A ^a   Naniwa, Tomohide ^b  

^a RITSUMEIKAN UNIVERSITY   (Japan)

^b YAMAGUCHI UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL NONLINEARITIES; ITERATIVE METHODS; LEARNING SYSTEMS; MOTION CONTROL; ROBOT PROGRAMMING;

ITERATIVE LEARNING; ROBOTIC FINGERTIPS;

END EFFECTORS;

EID: 0034247338     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0921-8890(99)00110-4     Document Type: Article

References (11)

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3. Arimoto S. Learning control theory for robotic motion. International Journal of Adaptive Control and Signal Processing. 4:1990;543-564.
4. Moore K., Dahleh M., Bhattacharyya S. Iterative learning control. Journal of Robotic Systems. 9:1992;563-594.
5. R. Horowitz, Learning control of robot manipulators, ASME Journal of Dynamical Systems, Measurement, and Control 115 (1993) 402-411.
6. Arimoto S. Fundamental problems of robot control. Part I. Innovation in the realm of robot servo-loops. Robotica. 13:1995;19-27.
7. S. Arimoto, Control Theory of Nonlinear Mechanical Systems: A Passivity-based and Circuit-theoretic Approach, Oxford University Press, Oxford, 1996.
8. T. Naniwa, Trajectory control of a DD robot by learning, Dissertation conducted by H. Muraoka at Yamaguchi University, 1996 (in Japanese).
9. S. Arimoto, H.-Y. Han, C.C. Cheah, S. Kawamura, Extension of impedance matching to nonlinear dynamics of robotic tasks, Systems and Control Letters 36 (1999) 109-119.
10. S. Arimoto, Ability of learning comes from passivity and dissipativity of system dynamics, in: Z. Bien, J-X. Xu (Eds.), Iterative Learning Control, Kluwer Science Publishers, Boston, MA, 1998, pp. 57-70.
11. S. Arimoto, P.T.N. Nguyen, H.Y. Han, Equivalence relations between learnability, output-dissipativity, and strict positive realness, International Journal of Control, submitted.