Discrete learning control for robots: strategy, convergence and robustness

REFERENCES

• AN , C. H. , ATKESON , C. G. , and HOLLERBACH , J. M. , 1988 , Model-Based Control of a Robot Manipulator ( Cambridge , Mass MIT Press ).
   Google Scholar
• ARIMOTO , S. , KAWAMURA , S. , and MIYAZAKI , F. , 1984 , Bettering operation of robots by learning. Journal of Robotic Systems , 1 , ( 2 ), 123 – 140 .
   Web of Science ®Google Scholar
• ARIMOTO , S. , MIYAZAKI , F. , and KAWAMURA , S. , 1988 , Motion control of robotic manipulator based on motor program learning. IFAC Robot Control 1988 ( SYROCO'88 ), Karlsruhe , FRG , 169 – 176 .
   Google Scholar
• ARIMOTO , S. , NANIWA , T. , and SUZUKI , H. , 1991 , Selective learning with a forgetting factor for robotic motion control. 1991 IEEE International Conference on Robotics and Automation , Sacramento , California , 1528 – 1533 .
   Google Scholar
• ASTROM , K. J. , and WITTENMARK , B. , 1990 , Computer Controlled Systems Theory and Design ( Englewood Cliffs , NJ ; Prentice Hall ).
   Google Scholar
• BIEN , Z. , and HUH , K. M. , 1989 , Higher-order iterative learning control algorithm. Proceedings of the Institution of Electrical Engineers , Pt. D , 136 , 105 – 112 .
   Google Scholar
• BONDI , P. , CASALINO , G. , and GAMBARDELLA , L. , 1988 , On the iterative learning control theory for robotic manipulators. IEEE Journal of Robotic Automation , 4 , 14 – 22 .
   Google Scholar
• CRAIG , J. J. , 1986 , Introduction to Robotics Mechanics & Control. ( Reading , Mass Addison-Wesley ); 1988, Adaptive Control of Mechanical Manipulators.(Reading, Mass Addi-son-Wesley) .
   Google Scholar
• FUANY , A. , and BEJCZY , A. K. , 1989 , An efficient method for computation of the manipulator inertia matrix. Proceedings of the 1989 IEEE International Conference on Robotics and Automation , Scottsdale , Arizona , 1366 – 1373 .
   Google Scholar
• GENG , Z. , LEE , J. D. , CARROLL , R. L. , and HAYNES , L. H. , 1990 , Learning control system design based on 2-D theory-an application to parallel link manipulator. Proceedings of the 1990 IEEE International Conference on Robotics and Automation , Cincinnati , Ohio , pp. 1510 – 1515 .
   Google Scholar
• HOUPIS , C. H. , and LAMONT , G. B. , 1985 , Digital Control Systems Theory, Hardware, Software ( New York McGraw-Hill ).
   Google Scholar
• KONISHI , Y. , AOYAMA , T. , and INASAKI , I. , 1989 , Learning control of a parallel-link direct-drive robot manipulator , Robotics and Autonomous Systems , 5 , 127 – 134 .
   Google Scholar
• LAMBERT , J. D. , 1976 , Computational Methods in Ordinary Differential Equations. ( London Wiley ).
   Google Scholar
• LUH , J. Y. S. , WALKER , M. W. , and PAUL , R. P. , 1980 . On-line computational scheme for mechanical manipulators. Journal Dynamic Systems Measurement Control , 102 , 69 – 76 .
   Web of Science ®Google Scholar
• LUNDE , E. , and BALCHEN , J. G. , 1990 , Practical trajectory learning algorithms for robot manipulators. Proceedings of the 1990 IEEE International Conference on Robotics and Automation , Cincinnati , Ohio , pp. 1516 – 1521 .
   Google Scholar
• MAHIL , S. S. , 1982 , On the application of Lagrange methods to the description of dynamic system. IEEE Transactions on Systems, Man and Cybernetics , 12 , 6 .
   Google Scholar
• MOORE , K. L. , DAHLEH , M. , and BHATTACHARYYA , S. P. , 1990 , Adaptive gain adjustment for a learning control method for robotics. Proceedings of the 1990 IEEE International Control on Robotics and Automation , Cincinnati , Ohio , pp. 2095 – 2099 .
   Google Scholar
• OH , S. R. , BIEN , Z. , and SUH , I. H. , 1988 , An iterative learning control method with application for robot manipulator. IEEE Journal of Robotic Automation , 4 , 508 – 514 .
   Google Scholar
• TOURASSIS , V. D. , and NEUMAN , C. P. , 1985 , Properties and structure of dynamic robots models for control engineering application. Mechanism and Machine Theory , 20 , 27 – 40 .
   Web of Science ®Google Scholar