By Topic

Experimental evaluation of a new robot learning controller

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

2 Author(s)
Guglielmo, K. ; George W. Woodruff Sch. of. Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Sadegh, N.

The result of the implementation of a learning control algorithm on an IBM 7545 robotic manipulator are presented. The implementation of the joint space algorithm on the IBM manipulator confirms and exceeds the performance estimated by previous simulation work. Feedback was obtained from optical joint position encoders, and velocity was estimated by simple numerical differentiation in software. No acceleration feedback of any kind was used, and no dynamic parameters, dynamic equations of motion, or kinematic equations were needed. The performance of the algorithm was compared to that of a simple PD feedback system (common in many current industrial robots) and an adaptive algorithm which performs at least as well as a computed torque controller. The learning algorithm outperformed both of these controllers by a large margin, and exhibited convergence within approximately three cycles

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991