NDLI: Direct learning of feedforward control for manipulator path tracking

Content Provider	IEEE Xplore Digital Library
Author	Gorinevsky, D.M.
Copyright Year	1992
Description	Author affiliation: Lehrstuhl B fuer Mech., Tech. Univ., Munchen, Germany (Gorinevsky, D.M.)
Abstract	The author considers a motor control task such as manipulator path tracking that could be solved by applying an appropriate feedforward control program. This program depends on a vector of the task parameters. A direct feedforward program learning control approach that is based on iteratively learning and storing the control programs for some values of the parameter vector is presented. To implement the concept several subproblems need to be solved. One is discretization to obtain a compact parametric representation of the task input and output data. Another is development of an iterative adaptive learning procedure. An important step is to find a method for control program approximation over the task parameter domain. These subproblems are discussed. This approach is applied to a manipulator path tracking problem. The results of its experimental implementation are examined.
Starting Page	42
Ending Page	47
File Size	499803
Page Count	6
File Format	PDF
ISBN	0780305469
ISSN	21589860
DOI	10.1109/ISIC.1992.225064
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-08-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Motion control Motor drives Scattering parameters Tracking Conference proceedings Iterative methods Artificial neural networks Computer networks Acceleration
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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