Abstract: Abstract This article proposes a betterment process for the operation of a mechanical robot in a sense that it betters the next operation of a robot by using the previous operation's data. The process has an iterative learning structure such that the ( k + 1)th input to joint actuators consists of the k th input plus an error increment composed of the derivative difference between the k th motion trajectory and the given desired motion trajectory. The convergence of the process to the desired motion trajectory is assured under some reasonable conditions. Numerical results by computer simulation are presented to show the effectiveness of the proposed learning scheme.
Publication Year: 1984
Publication Date: 1984-06-01
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 3265
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot