Bibliographic Information
- Other Title
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- 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
- 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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Abstract
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.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 55 (510), 382-388, 1989
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206355688832
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- NII Article ID
- 110002391488
- 130004228600
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 3214461
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed