State-to-state Control with Learning Control and Its Application to Robot Juggling Task.

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  • ＳＴＳ学習制御法とお手玉ロボットへの応用
  • STS ガクシュウ セイギョホウ ト オテダマ ロボット エ ノ オウヨウ

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In PTP motion of a robot, usually the velocity at the destination is assumed to be zero and the time is not specified explicitly. However, there are situations where time and even velocity must be specified explicitly at the desired position. Such control will be called state-to-state(STS) control. Althouth this can be attained by CP motion, continuous control along the specified trajectory impedes fast motion. In this paper, STS control is applied to a SCARA type robot to achieve juggling with two balls, where tossing and catching correspond to the two states. Furthermore, real-time learning control is incorporated with STS control in order to cope with variation in time, position and velocity of tossing and catching. More than ten consecutive juggling has been achieved successfully.

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