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题名: Learning control for robotic manipulators in discrete-time formulation
作者: Liu DM(刘德满) ; Yin CW(尹朝万) ; Jiang XS(蒋新松)
作者部门: 中国科学院沈阳自动化研究所
会议名称: 1995 American Control Conference
会议日期: June 21-23, 1995
会议地点: Seattle, WA, USA
会议主办者: IEEE
会议录: Proceedings of the 1995 American Control Conference
会议录出版者: IEEE
会议录出版地: New York
出版日期: 1995
页码: 888-892
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-2445-5
摘要: A new discrete-time formulation of iterative learning control is developed in which partial knowledge of the robot dynamic model is utilized. From the characteristics and implementation points of view, it appears to be more attractive than existing learning control schemes. The convergence issue is particularly addressed. Moreover, effectiveness of this control method is demonstrated through computer simulations in which PUMA 560 robot with first three degrees of freedom is used.
语种: 英语
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9201
Appears in Collections:沈阳自动化所知识产出(2000年前)_会议论文

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Recommended Citation:
刘德满; 尹朝万; 蒋新松 .Learning control for robotic manipulators in discrete-time formulation.见:IEEE.Proceedings of the 1995 American Control Conference,New York,1995,888-892
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