IEEE - Institute of Electrical and Electronics Engineers, Inc. - Learning control for geometrically constrained robot manipulators

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

Author(s): Naniwa, T. ; Arimoto, S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Yokohama, Japan, Japan
Conference Date: 26 July 1993
Volume: 2
ISBN (Paper): 0-7803-0823-9
DOI: 10.1109/IROS.1993.583152
Regular:

A learning control scheme for class of robot manipulators whose endpoint is moving under geometrical constraints on a surface is proposed. In this scheme, the input torque command is composed of... View More

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