000004002 001__ 4002
000004002 005__ 20141118153339.0
000004002 04107 $$acze
000004002 046__ $$k2009-05-11
000004002 100__ $$aZáda, V.
000004002 24500 $$aLearning control for robot manipulators

000004002 24630 $$n15.$$pEngineering Mechanics 2009
000004002 260__ $$bInstitute of Theoretical and Applied Mechanics AS CR, v.v.i., Prague
000004002 506__ $$arestricted
000004002 520__ $$2eng$$aIn this paper it is considered an iterative learning control algorithm for trajectory tracking of robots with unknown parameters, as masses of links or inertial momentums etc. The control schemes are based on using of a proportional derivative feedback , for which an iterative term is added to cope with the unknown parameters and disturbances. The control design is simple in the sense that only requirements on the PD and learning gains are the positive definiteness considerations. Arbitrary bounds of the robot parameters are not needed. The number of iterative variables in common algorithms are equal to the number of control inputs, but in this paper this one are defalcated only on two.

000004002 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000004002 653__ $$a

000004002 7112_ $$aEngineering Mechanics 2009$$cSvratka (CZ)$$d2009-05-11 / 2009-05-14$$gEM2009
000004002 720__ $$aZáda, V.$$iLindr, D.$$iChatraie, A.
000004002 8560_ $$ffischerc@itam.cas.cz
000004002 8564_ $$s166068$$uhttps://invenio.itam.cas.cz/record/4002/files/Zada-183-PT.pdf$$y
             Original version of the author's contribution as presented on CD, 183.
            
000004002 962__ $$r3852
000004002 980__ $$aPAPER