Two-dimensional learning-control theory for robotic manipulators

摘要

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.