Title: Learning control of elastic joint robot and its application to the industrial robot manipulator
Abstract: Learning control, a methodology for obtaining a reference input pattern that enables an actual output of a robot manipulator to coincide with a desired one, is modified and applied to a manipulator with an elastic-joint robot. This type of learning control is suitable for actual industrial robot control systems that have independent feedback controllers with each joint. Learning control has been implemented for a single-link elastic-joint robot. Improved high-speed motion has been achieved. Experiments on an industrial manipulator show that the problem of vibration encountered in high-speed motion is mitigated.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Publication Year: 2002
Publication Date: 2002-12-30
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 8
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