机器人模仿控制论毕业课程设计外文文献翻译.docVIP

辽宁科技大学本科生毕业设计 第  PAGE 10 页 Learning Control of Robot Manipulators ROBERTO HOROWITZ Department of Mechanical Engineering University of California at Berkeley Berkeley，CA 94720,U.S.A Phone:（510）642-4675 e-mail:horowitz@canaima.berkeley.edu Abstract Learning control encompasses a class of control algorithms for programmable machines such as robots which attain, through an interactive process, the motor dexterity that enables the machine to execute complex tasks. In this paper we discuss the use of function identification and adaptive control algorithms in learning controllers for robot manipulators. In particular, we discuss the similarities and differences between betterment learning schemes, repetitive controllers and adaptive learning schemes based on integral transforms. The stability and convergence properties of adaptive learning algorithms based on integral transforms are highlighted and experimental results illustrating some of these properties are presented. Key words: Learning control, adaptive control, repetitive control, robotics Introduction The emulation of human learning has long been among the most sought after and elusive goals in robotics and artificial intelligence. Many aspects of human learning are still not well understood. However, much progress has been achieved in robotics motion control toward emulating how humans develop the necessary motor skills to execute complex motions. In this paper we will refer to learning controllers as the class of control systems that generate a control action in an interactive manner using a function adaptation algorithm, in order to execute a prescribed action. In typical learning control applications the machine under control repeatedly attempts to execute a prescribed task while the adaptation algorithm successively improves the control system’s performance from one trial to the next by updating the control input based on the error signals from previous tri