Iterative Learning Control for Robot Manipulators Using The Finite Dimensional Input Subspace.

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概要

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• This paper proposes a new type of iterative learning control algorithm for manipulators, which seeks the desired input in an appropriate finite dimensional input subspace. The convergence condition of the learning law is derived, and several advantages of the proposed method are pointed out. The effectiveness of the proposal method is demonstrated by numerical examples.

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公益社団法人 計測自動制御学会 | 論文

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