Cart (Loading....) | Create Account
Close category search window

A learning controller for robot manipulators using Fourier series

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Xiaoqi Tang ; Huazhong Univ. of Sci. & Technol., Wuhan, China ; Lilong Cai ; Weiqing Huang

We proposed a new learning controller for decentralized tracking control of nonlinear robot manipulators. When the desired trajectory of each subsystem of the robot lasts for a finite duration, it can be approximated by a Fourier series with constant harmonic magnitudes. For each subsystem of the robot, a learning controller is designed to individually control each harmonic component of the actual output, although it is cross-related to other components in nonlinear systems. The learning algorithm is designed such that each harmonic magnitude of the actual output converges to that of the desired trajectory within the system bandwidth. Since this decentralized learning controller is designed in Fourier space instead of time domain, the system's time-delay could be easily compensated. This learning controller is only based on the local input and output information; no a priori structure or parameters of the system model are required. The experimental results on a 3-DOF direct-drive robot are presented

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:16 ,  Issue: 1 )

Date of Publication:

Feb 2000

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.