Abstract
Abstract In this paper a two-dimensional (2-D) learning control scheme for robot manipulators is proposed. The scheme is based on an iterative structure that utilizes available data from previous operation of a specified trajectory. It is shown that the fast convergence of the actual trajectory to the desired one is guaranteed upon proper selection of a weighting matrix. The proposed learning-control technique is applied to a trajectory-tracking problem for a two-link, as well as a Microbot, manipulator. Convergence of the scheme for various weighting matrices is shown.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
