Abstract
This paper considers a version of the problem of how to teach robots to write characters in an actual environment. In particular, a feedforward controller is designed for two-link manipulators to improve tracking performance despite limited knowledge of the surroundings. An adaptive scheme, called MIMO-FEL (Multi-input Multi-output Feedback Error Learning), is employed to achieve the objective. After convergence, the feedforward controllers are switched depending on the target character to be written. This switching strategy is a clear contrast with the precise identification approach, which uses a single general-purpose controller.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC |
| Edition | 1 PART 1 |
| DOIs | |
| Publication status | Published - Dec 1 2008 |
| Externally published | Yes |
| Event | 17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: Jul 6 2008 → Jul 11 2008 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Number | 1 PART 1 |
| Volume | 17 |
| ISSN (Print) | 1474-6670 |
Other
| Other | 17th World Congress, International Federation of Automatic Control, IFAC |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 7/6/08 → 7/11/08 |
Keywords
- Adaptation and learning in physical agents
- Adaptive control of systems
- Adaptive system and control
ASJC Scopus subject areas
- Control and Systems Engineering
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Cite this
Alali, B., Hirata, K., & Sugimoto, K. (2008). Can a two-link manipulator learn how to write? In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.0217