Learning Control of a Flexible Arm by B-spline Curves in Consideration of Time Scaling

A learning control method using B-spline curves is extended to be applied to the tracking of specified spatial paths at arbitrary speed. This tracking control means the tracking of time scaled trajectories with geomemc path constraints. The proposed method obtains following results : (1) By using Ti...

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Veröffentlicht in:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 1999/09/25, Vol.65(637), pp.3643-3649
Hauptverfasser:	OZAKI, Hiroaki, KUBO, Tsuyoshi, SHIMOGAWA, Tetsuji, LIN, Chang-jun
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	B-Spline Computer Control Feedforward Flexible Arm Learning Control Mechatronics and Robotics Path Constraint Time Scale Factor Tracking Control
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