The control method proposed in this study is based on adaptive machine learning for a multi-input multi-output visual robotic arm system with uncertain control gain matrices.By relaxing the requirement for known control gain matrices in traditional adaptive learning methods,a composite energy function is designed to prove the conver-gence of the system.The effectiveness of the adaptive iterative learning method is demonstrated through simulating the motion of the robotic arm system and using an uncalibrated camera for validation.
关键词
自适应机器学习/控制增益矩阵/非线性系统/机械臂
Key words
adaptive machine learning/control gain matrix/nonlinear system/robot manipulator
维普
万方数据