具有位置和速度感应的机器人运动控制的离散学习算法

Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Pub Date : 1991-11-03 DOI:10.1109/IROS.1991.174549

S. Tso, Y. X. Ma

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引用次数: 1

摘要

为了提高学习质量和简化迭代学习控制器的实现，提出了一种新的机器人运动控制离散策略。设计了一种系统的方法来合并连续周期的位置和速度数据，以实现有效的学习控制。并建立了该算法的收敛性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A discrete learning algorithm for robot motion control with both position and velocity sensing

With a view to improving the quality of learning and simplifying the iterative learning controller implementation, a new discrete strategy for robot motion control is proposed. A systematic means is devised to merge the position and velocity data in consecutive cycles for effective learning control. The convergence property is also established.<>

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Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91

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