Novel Leaning Feed-Forward Controller for Accurate Robot Trajectory Tracking

Abstract

This paper presents a novel learning feed-forward controller design approach for accurate robotics trajectory tracking. Based on the joint nonlinear dynamics characteristics, a model-free learning algorithm based on Support Vector Machine (SVM) is implemented for friction model identification. The experimental results verified that SVM based learning feed… (More)
DOI: 10.1007/11539117_39

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