Abstract
In this paper we shall present the motivations and the basic concepts underlying the application of Learning techniques for the control of mechanical manipulators. A Learning scheme is introduced and the results concerning both stability and convergence aspects are reported.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
S. Arimoto, S. Kawamura and F. Miyasaki, “Bettering operation of robot by Learning”, J. Robotic Syst., pp. 123–140, 1984.
S. Arimoto, S. Kawamura and F. Miyasaki, “Can mechanical robots learn by themselves ?”, in Robotic Research, 2nd. Int. Symp. Cambridge, MA , MIT Press,1985
C.G. Atkeson, J. Mclntyre, “Robot trajectory Learning through practice”, 1986 IEEE Conf. on Rob. and Automat., S. Francisco, CA, April 1986.
P. Bondi, G. Casalino and L. Gambardella, “On the Iterative Learning Control Theory for robotic manipulators”, IEEE Jour. of Rob. and Autom., vol. 4, n. 1,Feb. 1988.
G. Casalino, M. Aicardi, “Motion Learning in robotized mechanical systems”,Progress in Robotics and Intelligent Systems, G. Zobrist ed., Ablex publisher,N.J., (to appear).
J.J. Craig, “Adaptive Control of manipulators through repeted trials”, Proc. 1984 Amer. Control Conf., San Diego, CA, June 1984
J.J. Craig, Adaptive Control of mechanical manipulators, Addison Wesley, 1988.
M. Kawato, M. Isobe, Y. Maeda, R. Suzuky: “Coordinate transformation and Learning Control for Visually-Guided Voluntary Movements with iteration: a Newton-like method in function space”, Biological Cybernetics, n. 5., pp. 161–177, 1988.
R. Ortega and M.W. Spong , “Adaptive motion Control of rigid robots: a tutorial”,Proc. 27th IEEE Conf. on Dec. and Contr., Austin, TX, Dec. 1988.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer Science+Business Media New York
About this chapter
Cite this chapter
Aicardi, M., Casalino, G. (1991). Stability and Convergence Properties of a Learning Technique for the Control of Robotic Systems. In: New Trends in Systems Theory. Progress in Systems and Control Theory, vol 7. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-0439-8_5
Download citation
DOI: https://doi.org/10.1007/978-1-4612-0439-8_5
Publisher Name: Birkhäuser, Boston, MA
Print ISBN: 978-1-4612-6760-7
Online ISBN: 978-1-4612-0439-8
eBook Packages: Springer Book Archive