You are here

FAU Collections » FAU Research Repository » FAU Theses and Dissertations

Two-dimensional approximation and learning control of robot manipulators

Download pdf | Full Screen View

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.
72 views
26 downloads
Name(s): Gautam, Ashutosh.
Florida Atlantic University, Degree grantor
Zilouchian, Ali, Thesis advisor
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.
Subject(s): Control theory
Manipulators (Mechanism)
Robots
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.