By Dan Zhang, Bin Wei
The robot mechanism and its controller make an entire process. because the robot mechanism is reconfigured, the regulate method should be tailored as a result. the necessity for the reconfiguration frequently arises from the altering practical requisites. This ebook will specialise in the adaptive regulate of robot manipulators to handle the replaced stipulations. the purpose of the publication is to summarise and introduce the state of the art applied sciences within the box of adaptive regulate of robot manipulators so one can enhance the methodologies at the adaptive regulate of robot manipulators. Advances made some time past many years are defined within the e-book, together with adaptive keep watch over theories and layout, and alertness of adaptive regulate to robot manipulators.
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Additional info for Adaptive control for robotic manipulators
IEEE Transactions on Automatic Control, 31(4): 306–315. 28 Adaptive Control for Robotic Manipulators Narendra, K. S. and A. M. Annaswamy. 1987. Persistent excitation in adaptive systems. International Journal of Control, 45(1): 127–160. Nguyen-Tuong, D. and J. Peters. 2011. Model learning for robot control: A survey. Cognitive Processing, 12(4): 319–340. Osburn, P. , H. P. Whitaker and A. Kezer. 1961. New developments in the design of adaptive control systems. Institute of Aeronautical Sciences.
The first two problems have been addressed mostly by using simulation environment. Using a model of the system, RL can run in simulation and come up with a policy that is optimal. However, as model mismatch is inevitable often the computed policy needs to be tweaked to work on the real system. In order to help RL find the optimal policy in the high dimensional space demonstration data has also been used to guide policy learning. In this approach which is called imitation learning or learning from demonstration first the desired task is 22 Adaptive Control for Robotic Manipulators demonstrated by an operator and the data corresponding to that is collected to extract the initial control policy.
Schmidt, R. A. and T. D. Lee. 2011. Motor Control and Learning: A Behavioral Emphasis, Human Kinetics. Slotine, J. -J. E. and W. Li. 1987. On the adaptive control of robot manipulators. The International Journal of Robotics Research, 6(3): 49–59. Slotine, J. -J. E. and W. Li. 1991. Applied Nonlinear Control, Prentice-Hall International, Inc. Tsai, M. C. and M. Tomizuka. 1989. Model reference adaptive control and repetitive control for robot manipulators. Robotics and Automation, 1989. Proceedings, 1989 IEEE International Conference on, 3: 1650–1655.