書誌事項
- タイトル別名
-
- 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
この論文をさがす
抄録
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.
収録刊行物
-
- 日本機械学会論文集C編
-
日本機械学会論文集C編 55 (510), 382-388, 1989
一般社団法人 日本機械学会
- Tweet
詳細情報 詳細情報について
-
- CRID
- 1390001206355688832
-
- NII論文ID
- 110002391488
- 130004228600
-
- NII書誌ID
- AN00187463
-
- ISSN
- 18848354
- 03875024
-
- NDL書誌ID
- 3214461
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
-
- 抄録ライセンスフラグ
- 使用不可