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Two-dimensional approximation and learning control of robot manipulators
- Date Issued:
- 1989
- Summary:
- In this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is always stable. The simulation results for the approximation technique as well as the two-dimensional learning control scheme are also included in the thesis.
Title: | Two-dimensional approximation and learning control of robot manipulators. |
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Name(s): |
Gautam, Ashutosh. Florida Atlantic University, Degree grantor Zilouchian, Ali, Thesis advisor |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Issuance: | monographic | |
Date Issued: | 1989 | |
Publisher: | Florida Atlantic University | |
Place of Publication: | Boca Raton, Fla. | |
Physical Form: | application/pdf | |
Extent: | 131 p. | |
Language(s): | English | |
Summary: | In this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is always stable. The simulation results for the approximation technique as well as the two-dimensional learning control scheme are also included in the thesis. | |
Identifier: | 14559 (digitool), FADT14559 (IID), fau:11356 (fedora) | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): |
College of Engineering and Computer Science Thesis (M.S.E.)--Florida Atlantic University, 1989. |
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Subject(s): |
Control theory Manipulators (Mechanism) Robots |
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Held by: | Florida Atlantic University Libraries | |
Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/14559 | |
Sublocation: | Digital Library | |
Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU | |
Is Part of Series: | Florida Atlantic University Digital Library Collections. |