Motion Control of Hyper Redundant Robots by Learning Control Based on Linear Combination of Error History and Initial Configuration Optimization with Backward Learning
This paper describes the motion control of hyper redundant robots using a learning control scheme based on linear combination of error history. The learning control scheme is formulated with three elements: general solution of inverse kinematics with pseudo inverse of Jacobian matrix to achieve main...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2008-11-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/2/6/2_6_1011/_pdf/-char/en |