“Learning Control of Redundant DOF Robots by Optimization of Parameterized Control Space”

Authors: Erling Lunde and Jens G. Balchen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1988, Vol 9, No 4, pp. 207-222.

Keywords: Robots, learning control, kinematically redundant manipulators

Abstract: A framework for the learning control of robots based on a parameterized control space is doscussed. Emphasis is put on how to utilize stored motion knowledge. The principles are applied to an example of redundancy resolution for a simple manipulator. Global sub-optimal solutions for feedforward control are achieved using a simple optimization algorithm. A time-integral performance criterion is used.

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DOI forward links to this article:
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  title={{Learning Control of Redundant DOF Robots by Optimization of Parameterized Control Space}},
  author={Lunde, Erling and Balchen, Jens G.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}