On the learning control of a robot manipulator |
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| Authors: | D M Dawson Z Qu J F Dorsey F L Lewis |
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| Affiliation: | (1) School of Electrical Engineering, Georgia Institute of Technology, 30332 Atlanta, GA, USA |
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| Abstract: | This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors. |
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| Keywords: | Robots control learning tracking control computed-torque control robustness |
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