An approach to software organization for control of industrial robots
β Scribed by Nagamatsu, Ikuo ;Tomiyama, Toshihide ;Tanaka, Masato ;Kyura, Nobuhiro
- Book ID
- 112186750
- Publisher
- John Wiley and Sons
- Year
- 1985
- Tongue
- English
- Weight
- 455 KB
- Volume
- 2
- Category
- Article
- ISSN
- 0741-2223
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Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.
Although learning controllers are considered to be capable of generalization, most robot learning control schemes either need to include conventional controllers, or need to repeat the learning process each time a new trajectory is encountered. The main reason for this deficiency is that the learnin