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New Aspects of Iterative Learning Control
Sadao Kawamura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper points out two new aspects of ILC??(Iterative Learning Control). One is to find out new applications of ILC and the other is to use feedforward input patterns obtained through ILC in order to generate new motions of robots. As new applications, passive human motions and underwater robot arm motions are explained in thispaper. As the use of feedforward input patterns, the key ideas of a time-scale transformation method and a space-scale transformation method are explained.??
Masahiro Sekimoto,Sadao Kawamura,Tomoya Ishitsubo,ShinsukeAkizuki,Masayuki Mizuno 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper aims at generating desired feedforward torque for a specified motion by reuse of time-series to rque data acquired by the iterative learning control. The suggested method named motion-scalet rans for mation realizes a motion to an arbitrarily specified posture of a two-DOF planar robot arm on the basis of arithmetical operations of time-series to rque of only four motions. The algorism is theoretically presented, and the effectiveness is confirmed in experiments. It is shown by the experimental results that the trajectory tracking error so fangular velocities by the motion-scalet rans formationt end to be smaller than those by the computed to rque method.
Observation of Human Multi-Joint Arm Movement from the Viewpoint of a Riemannian Distance
Masahiro Sekimoto,Suguru Arimoto,Boris I. Prilutsky,Tadao Isaka,Sadao Kawamura 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper aims at analyzing dynamic characteristics of human arm movements from the viewpoint of Rie-manni an distance. In order to evaluate the amount of inertia-induced movement of a multi-joint arm, a measure called inertia-induced measure is developed. By applying the measure to actual human reaching, it is shown that the smooth reaching tends to be closer to the inertia-induced movement than the clumsy reaching. From this observation, it is sug-gested that humans use their own inertia properties efficiently in smooth reaching.