Experiments on repositioning control of robots by learning
P Lucibello, S Panzieri - Proceedings of the 1994 IEEE …, 1994 - ieeexplore.ieee.org
P Lucibello, S Panzieri
Proceedings of the 1994 IEEE International Conference on Robotics …, 1994•ieeexplore.ieee.orgExperimental results on the repositioning of a rigid robot link from one equilibrium point to
another are presented. By means of a learning algorithm, which uses only the positioning
error at the end of a trial, the control torque needed to move the robot is found. After a high
gain feedback linearization of the robot dynamics, a simple, finite dimensional learning
algorithm is applied. The results of the experiments, carried out on a two link robot under
gravity, show that the algorithm is robust and performs quite satisfactorily.<>
another are presented. By means of a learning algorithm, which uses only the positioning
error at the end of a trial, the control torque needed to move the robot is found. After a high
gain feedback linearization of the robot dynamics, a simple, finite dimensional learning
algorithm is applied. The results of the experiments, carried out on a two link robot under
gravity, show that the algorithm is robust and performs quite satisfactorily.<>
Experimental results on the repositioning of a rigid robot link from one equilibrium point to another are presented. By means of a learning algorithm, which uses only the positioning error at the end of a trial, the control torque needed to move the robot is found. After a high gain feedback linearization of the robot dynamics, a simple, finite dimensional learning algorithm is applied. The results of the experiments, carried out on a two link robot under gravity, show that the algorithm is robust and performs quite satisfactorily.< >
ieeexplore.ieee.org
Showing the best result for this search. See all results