リリース型マニピュレーションにおける位置決め用の繰り返し学習制御  [in Japanese] Iterative Learning Control for Positioning in Releasing Manipulation  [in Japanese]

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Author(s)

    • 朱 赤 ZHU Chi
    • 前橋工科大学システム生体工学科 Department of Systems Life Engineering, Maebashi Institute of Technology
    • 新井 民夫 [他] ARAI Tamio
    • 東京大学大学院工学系研究科精密機械工学専攻 Department of Precision Engineering, School of Engineering, The University of Tokyo
    • 河村 篤男 KAWAMURA Atsuo
    • 横浜国立大学大学院工学研究院 Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University

Abstract

Aiming to improve positioning precision of stop posture (position and orientation) of an object and decrease trial numbers in our proposed releasing manipulation, two iterative learning control (ILC) schemes, <i>learning control based on convergent condition</i> (LCBCC), and <i>learning control based on optimal principle</i> (LCBOP) are designed in an experimental-oriented way. The experimental results show that these methods are effective. By discussing the characteristics of these control methods, we conclude that when there is no enough system knowledge, LCBCC is the only choice and to be used to learn system knowledge; after enough experience has been acquired, LCBOP is better than LCBCC in the view of precision.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 27(2), 169-177, 2009-03-15

    The Robotics Society of Japan

References:  21

Codes

  • NII Article ID (NAID)
    10024789649
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    02891824
  • NDL Article ID
    10220896
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  NDL  J-STAGE 
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