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Robustness of learning control for robot manipulators

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1 Author(s)
Arimoto, S. ; Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan

A class of simple learning control algorithms having a forgetting factor but not making use of the derivative of velocity signals for motion control of robot manipulators is proposed, and its convergence property is discussed. The robustness of such a learning control scheme with respect to initialization errors, disturbances, and measurement noise is studied. It is proved that motion trajectories converge to a neighborhood of the desired trajectory and eventually remain in it. Relationships of the size of attraction neighborhoods to the magnitudes of initialization errors and other disturbances are obtained, suggesting a rule for selection of the forgetting factor in the progress of learning

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990