Use Of Learning Control Research Articles

2813 誤差履歴線形和学習制御則に基づく超多自由度ロボットの運動制御 : 後退学習による運動開始姿勢の獲得(S59 機構の開発とシミュレーション)

2813 誤差履歴線形和学習制御則に基づく超多自由度ロボットの運動制御 : 後退学習による運動開始姿勢の獲得(S59 機構の開発とシミュレーション)

Some Experiences of the Use of Iterative Learning Control for Performance Improvement in Robot Control Systems

Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feed-back and feed-forward control. The effects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simplified model of a robot arm. Convergence and robustness aspects of the choice of filters in the updating scheme of the learning control signal are studied.

A Basic Study of Controlling a Scanner Servomechanism Used in a Plain Paper Copier.

This paper describes an investigation of the control methods for a scanner servomechanism used in a plain paper copier. Since wire and a spring are used in this servomechanism, it is not easy to obtain a step response without overshoot. Experiments with an actual scanner servomechanism used in a plain paper copier were performed, and good step responses without overshoot and with very small amounts of velocity fluctuations were successfully obtained through a design based on H∞ control theory, and the use of learning control.