Please use this identifier to cite or link to this item: https://doi.org/10.1016/0736-5845(95)00028-3
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dc.titleApplication of discrete learning control to a robotic manipulator
dc.contributor.authorPoo, A.N.
dc.contributor.authorLim, K.B.
dc.contributor.authorMa, Y.X.
dc.date.accessioned2014-06-17T05:08:51Z
dc.date.available2014-06-17T05:08:51Z
dc.date.issued1996-03
dc.identifier.citationPoo, A.N., Lim, K.B., Ma, Y.X. (1996-03). Application of discrete learning control to a robotic manipulator. Robotics and Computer-Integrated Manufacturing 12 (1) : 55-64. ScholarBank@NUS Repository. https://doi.org/10.1016/0736-5845(95)00028-3
dc.identifier.issn07365845
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/57922
dc.description.abstractAn effective iterative learning control law is developed in discrete time domain for improving the trajectory tracking performance of robotic manipulators repeating the same task from cycle to cycle. With this method, information on the current-cycle is intentionally introduced into the learning law such that the convergence rate can be further improved. An analysis of convergence, formulated completely in discrete time, is given. Experimental results, based on implementation on a commercial robot, are also presented and discussed in the paper which demonstrated the effectiveness of the learning control method.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/0736-5845(95)00028-3
dc.sourceScopus
dc.typeArticle
dc.contributor.departmentMECHANICAL & PRODUCTION ENGINEERING
dc.description.doi10.1016/0736-5845(95)00028-3
dc.description.sourcetitleRobotics and Computer-Integrated Manufacturing
dc.description.volume12
dc.description.issue1
dc.description.page55-64
dc.description.codenRCIME
dc.identifier.isiutA1996TQ17100006
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