工业机械臂跟踪学习控制器的实现

Proceedings of IEEE International Conference on Control and Applications Pub Date : 1993-09-13 DOI:10.1109/CCA.1993.348350

A. Carozzi, A. Fioretti, M. Poloni, F. Nicolò, G. Ulivi

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引用次数: 4

摘要

本文介绍了COMAU S.p.a系列工业机械臂SMART 6.12的学习控制器的设计与实现。该控制器通过建立所需的离线输入处理记录的误差，沿着重复的轨迹迭代地提高系统性能。它是通过对现有控制器的少量添加来实现的，该控制器仍然完全可操作。实验结果证明了该方法的有效性。

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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Implementation of a tracking learning controller for an industrial manipulator

The paper describes the design and the implementation, of a learning controller for a series industrial manipulator SMART 6.12 from COMAU S.p.a. The controller iteratively improves the system performance along a repetitive trajectory by building the required off-line input processing the recorded error. It has been realized with minor additions to the existing controller, which remains fully operational. Experimental results demonstrate its effectiveness.<>

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Proceedings of IEEE International Conference on Control and Applications

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