Feedback Error Learning for Writing One Stroke Characters by Two-Link Manipulator

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.