Motion Control of Brachiation Robot by Means of Final-State Control with Error Learning.

摘要

This study proposes a method for obtaining a feedforward input for motion control of a brachiation robot which has a nonlinear property in its dynamics. We deal with the brachiation robot which has three links with two actuators and no actuator at the root of the first link. We regard the brachiation robot with a nonlinear property as a time-varying system and apply the error learning method of final-state control. We especially adopt an iteration method which uses a learning coefficient less than 1 to improve the convergence property for errors of final state. By simulation taking into consideration the nonlinear property of the brachiation robot, we verify that the desired final state is achieved using the feedforward input obtained. As a result, we see that the iteration method using error learning is useful for motion control of the nonlinear system.