Abstract
Repositioning by learning of a two-link flexible arm is dealt with. A finite dimensional algorithm is presented which trial by trial search for a control which moves the arm between two given configurations in a finite time interval. Effectiveness of these algorithms is proven both by theoretical arguments and experimental results. Robustness with respect to unmodeled dynamics is also addressed.
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© 1994 Springer-Verlag London Limited
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Lucibello, P., Panzieri, S., Ulivi, G. (1994). Point to point learning control of a two-link flexible arm. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027620
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DOI: https://doi.org/10.1007/BFb0027620
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