On self-learning control strategy for robot manipulators

Yong-duan SONG; Wei-Bing GAO; Mian CHENG

doi:10.1016/S1474-6670(17)54609-1

On self-learning control strategy for robot manipulators

Yong-duan SONG^*
, Wei-Bing GAO
, Mian CHENG

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

Abstract

This paper is about the self-learning control of a robot manipulator. Using a so-called λ-decision, an improved reinforcement decision function is obtained and the corresponding self-learning control algorithm is derived which exhibits the following properties: 1) It is simple to compute, that makes it easy to implement, 2) It requires only a very rough description of the robot manipulator to be controlled and 3) There is no need for repeated trial in applying it.

Original language	English
Pages (from-to)	195-200
Number of pages	6
Journal	IFAC Proceedings Series
Volume	21
Issue number	16
DOIs	https://doi.org/10.1016/S1474-6670(17)54609-1
Publication status	Published - Oct 1988
Externally published	Yes
Event	Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium - Karlsruhe, FRG Duration: 5 Oct 1988 → 7 Oct 1988

Keywords

Control
decision function
robot manipulator
self-learning
stopping rule

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10.1016/S1474-6670(17)54609-1

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title = "On self-learning control strategy for robot manipulators",

abstract = "This paper is about the self-learning control of a robot manipulator. Using a so-called λ-decision, an improved reinforcement decision function is obtained and the corresponding self-learning control algorithm is derived which exhibits the following properties: 1) It is simple to compute, that makes it easy to implement, 2) It requires only a very rough description of the robot manipulator to be controlled and 3) There is no need for repeated trial in applying it.",

keywords = "Control, decision function, robot manipulator, self-learning, stopping rule",

author = "Yong-duan SONG and Wei-Bing GAO and Mian CHENG",

year = "1988",

month = oct,

doi = "10.1016/S1474-6670(17)54609-1",

language = "English",

volume = "21",

pages = "195--200",

journal = "IFAC Proceedings Series",

issn = "0741-1146",

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note = "Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium ; Conference date: 05-10-1988 Through 07-10-1988",

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T1 - On self-learning control strategy for robot manipulators

AU - SONG, Yong-duan

AU - GAO, Wei-Bing

AU - CHENG, Mian

PY - 1988/10

Y1 - 1988/10

N2 - This paper is about the self-learning control of a robot manipulator. Using a so-called λ-decision, an improved reinforcement decision function is obtained and the corresponding self-learning control algorithm is derived which exhibits the following properties: 1) It is simple to compute, that makes it easy to implement, 2) It requires only a very rough description of the robot manipulator to be controlled and 3) There is no need for repeated trial in applying it.

AB - This paper is about the self-learning control of a robot manipulator. Using a so-called λ-decision, an improved reinforcement decision function is obtained and the corresponding self-learning control algorithm is derived which exhibits the following properties: 1) It is simple to compute, that makes it easy to implement, 2) It requires only a very rough description of the robot manipulator to be controlled and 3) There is no need for repeated trial in applying it.

KW - Control

KW - decision function

KW - robot manipulator

KW - self-learning

KW - stopping rule

UR - https://www.scopus.com/pages/publications/0024904780

U2 - 10.1016/S1474-6670(17)54609-1

DO - 10.1016/S1474-6670(17)54609-1

M3 - Journal Article (refereed)

AN - SCOPUS:0024904780

SN - 0741-1146

VL - 21

SP - 195

EP - 200

JO - IFAC Proceedings Series

JF - IFAC Proceedings Series

IS - 16

T2 - Robot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium

Y2 - 5 October 1988 through 7 October 1988

ER -

On self-learning control strategy for robot manipulators

Abstract

Keywords

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