Trajectory Control of Manipulators Based on Discrete Time Learning Control with 2-Delay Input Control Technique.

概要

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A learning control based on repetitive operations of robotic manipulators is one of the most promising methods to realize high speed and high precision control for robotic manipulators. The learning algorithm being implemented by using many memories, the stability of learning control system should be analized in discrete-time domain. The joint servo system usually has an unstable zero. In our previous paper, we have clarified that this fact leads to unstable learning, when a sampling period is small. In this paper, we propose a new learning algorithm based on so-called 2-Delay input method. By using the 2-Delay input method, we can stabilize the unstable zero and realize the stable learning even if the sampling period is small. Also, we show some simulation results to verify the effectiveness of our proposed method.