Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Feedback Error Learning for Writing One Stroke Characters by Two-Link Manipulator
Basel ALALIKentaro HIRATAKenji SUGIMOTO
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2007 Volume 20 Issue 12 Pages 475-481

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Abstract

In this paper, we consider a version of problem how to teach robots to write characters in actual environment. In particular, one must design a feedforward controller for two-link manipulators to improve the tracking performance in the face of limited knowledge of the surroundings. We employ an adaptive scheme, called MIMO-FEL (Multi-Input Multi-Output Feedback Error Learning) to achieve our objective. The effectiveness of proposed method is demonstrated with an experiment.

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