パラレルリンク形ダイレクトドライブロボットの学習制御

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  • Learning control of a parallel-link direct-drive robot manipulator.
  • パラレルリンクガタ ダイレクト ドライブ ロボット ノ ガクシュウ セイギョ

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This paper describes the learning control method of a parallellink direct-drive robot manipulator. The acceleration error is used to correct the motion of the direct-drive motors. A theoretical method, which estimates the convergent limit of the learning control process based on the limit of a geometric series, is proposed. The validity of this proposed theory is proven through computer simulation ; it is then applied to the practical system of a parallel-link direct-drive robot manipulator. The convergent limit of a learning control system can be quantitatively estimated by the divergent coefficient which is defined in this study.

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