Performance of a memory-based approach to the control of robotic manipulators

X. Y. DENG; Y. D. SONG; J. N. ANDERSON

doi:10.5555/829538.831859

Performance of a memory-based approach to the control of robotic manipulators

X. Y. DENG^*
, Y. D. SONG
, J. N. ANDERSON

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

2 Citations (Scopus)

Abstract

The primary objective of this study is to examine the effectiveness of a memory-based control strategy for robotic manipulators. The main idea behind the memory-based control method is to use certain gathered information, such as most recent tracking error, current tracking error and past control experience, to directly modify the current control command. Simulations on a 3 DOF robotic arm show that this method is very effective in dealing with system nonlinearities and parameter uncertainties. Comparisons between the memory-based control and the existing model-based control are also provided.

Original language	English
Title of host publication	SSST '97: Proceedings of the 29th Southeastern Symposium on System Theory
Publisher	IEEE Computer Society
Pages	148-152
Number of pages	5
ISBN (Print)	0818678739
DOIs	https://doi.org/10.5555/829538.831859
Publication status	Published - 9 Mar 1997
Externally published	Yes
Event	29th Southeastern Symposium on System Theory - Cookeville, United States Duration: 9 Mar 1997 → 11 Mar 1997

Conference

Conference	29th Southeastern Symposium on System Theory
Country/Territory	United States
City	Cookeville
Period	9/03/97 → 11/03/97

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10.5555/829538.831859

Cite this

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title = "Performance of a memory-based approach to the control of robotic manipulators",

abstract = "The primary objective of this study is to examine the effectiveness of a memory-based control strategy for robotic manipulators. The main idea behind the memory-based control method is to use certain gathered information, such as most recent tracking error, current tracking error and past control experience, to directly modify the current control command. Simulations on a 3 DOF robotic arm show that this method is very effective in dealing with system nonlinearities and parameter uncertainties. Comparisons between the memory-based control and the existing model-based control are also provided.",

author = "DENG, \{X. Y.\} and SONG, \{Y. D.\} and ANDERSON, \{J. N.\}",

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AU - SONG, Y. D.

AU - ANDERSON, J. N.

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Y1 - 1997/3/9

N2 - The primary objective of this study is to examine the effectiveness of a memory-based control strategy for robotic manipulators. The main idea behind the memory-based control method is to use certain gathered information, such as most recent tracking error, current tracking error and past control experience, to directly modify the current control command. Simulations on a 3 DOF robotic arm show that this method is very effective in dealing with system nonlinearities and parameter uncertainties. Comparisons between the memory-based control and the existing model-based control are also provided.

AB - The primary objective of this study is to examine the effectiveness of a memory-based control strategy for robotic manipulators. The main idea behind the memory-based control method is to use certain gathered information, such as most recent tracking error, current tracking error and past control experience, to directly modify the current control command. Simulations on a 3 DOF robotic arm show that this method is very effective in dealing with system nonlinearities and parameter uncertainties. Comparisons between the memory-based control and the existing model-based control are also provided.

UR - https://www.scopus.com/pages/publications/0030718119

U2 - 10.5555/829538.831859

DO - 10.5555/829538.831859

M3 - Conference paper (refereed)

AN - SCOPUS:0030718119

SN - 0818678739

SP - 148

EP - 152

BT - SSST '97: Proceedings of the 29th Southeastern Symposium on System Theory

PB - IEEE Computer Society

T2 - 29th Southeastern Symposium on System Theory

Y2 - 9 March 1997 through 11 March 1997

ER -

Performance of a memory-based approach to the control of robotic manipulators

Abstract

Conference

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