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Redundant Robotic Manipulators II: Learning Dynamics Via Repeated Trials

  • Conference paper
Book cover Kinematic and Dynamic Issues in Sensor Based Control

Part of the book series: NATO ASI Series ((NATO ASI F,volume 57))

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Abstract

The paper presents the basic ideas and results underlying a learning methodology for the improvement of the quality of motion planned on the basis of the mechanism presented in /1/, for the case of redundant systems. The learning mechanism is based on the use of repeated trials of execution of the given task.Results concerning the conditions for convergence are presented and also discussed on the basis of some simulation examples.

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References

  1. S. Mussa Ivaldi, P. Morasso, R. Zaccaria: “Redundant Manilpulators: Regularizing by Mechanical Impedance”, NATO Workshop on Kinematic and Dynamic Issues in Sensor Based Control, Il Ciocco, Italy, Oct. 25–31, 1987.

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  2. G. Casalino, G. Bartolini: “A Learning Procedure for the Control of Movements of Robotic Manipulators” IASTED Symp. on Robotics and Automation, Amsterdam, June 1984.

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  3. G. Casalino, G. Bartolini: “A Learning Approach to the Control of Robotic Manipulators” ANIPLA Conf. Genoa, Dec. 1985.

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  4. G. Casalino, L. Gambardella: “Learning of Movements in Robotic Manipulators”, 1986 IEEE Conf. on Robotics Automation, S. Francisco, April 1986.

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  5. G. Casalino, L. Gambardella, P. Bondi: “On the Iterative Learning Control Theory for Robotic Manipulators”, IEEE Journal on Robotic and Automation, to appear

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  6. G. Casalino: “Control of Robotic Manipulators via a Trial and Error Approach”, Technical Report DIST, 1984.

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  7. S. Arimoto, S. Kawamura, F. Miyasaky: “Bettering Operation of Robots by Learning”, Journal of Robotic Systems, 1984.

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  8. S. Arimoto, S. Kawamura, F. Miyasaky: “Can mechanical Robots Learn by Themselves?”, in “Robotic Research”, the Second Int. Symp., MIT Press, 1985.

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  9. J.J. Craig: “Adaptive Control of Manipulators Through Repeated Trials”, Proc. of the 1984 American Control Conference, San Diego, June 1984.

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Author information

Authors and Affiliations

  1. Dept. of Communication, Computer and System Sciences (DIST), Via Opera Pia 11/A, Genoa, 16145, Italy

    G. Casalino & G. Bartolini

Authors
  1. G. Casalino
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  2. G. Bartolini
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Editor information

Editors and Affiliations

  1. Department of Electronic Engineering, University of Hull, HU6 7RX, Hull, UK

    Gaynor E. Taylor

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© 1990 Springer-Verlag Berlin Heidelberg

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Casalino, G., Bartolini, G. (1990). Redundant Robotic Manipulators II: Learning Dynamics Via Repeated Trials. In: Taylor, G.E. (eds) Kinematic and Dynamic Issues in Sensor Based Control. NATO ASI Series, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84012-8_21

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  • DOI: https://doi.org/10.1007/978-3-642-84012-8_21

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-84014-2

  • Online ISBN: 978-3-642-84012-8

  • eBook Packages: Springer Book Archive

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