Learning control of constrained robots

摘要

The authors consider constrained robots and design a learning control algorithm to reduce both the motion and force errors iteratively. The controller improves the performance as the actions are repeated. Simulation results for a constrained cylindrical robot are presented to illustrate the controller.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>