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dc.contributor.authorYoung, KYen_US
dc.contributor.authorFan, CCen_US
dc.date.accessioned2014-12-08T15:49:12Z-
dc.date.available2014-12-08T15:49:12Z-
dc.date.issued1998-04-01en_US
dc.identifier.issn0165-0114en_US
dc.identifier.urihttp://hdl.handle.net/11536/32702-
dc.description.abstractAlthough learning controllers are considered to be capable of generalization, most robot learning control schemes either need to include conventional controllers, or need to repeat the learning process each time a new trajectory is encountered. The main reason for this deficiency is that the learning space for executing general motions of multi-joint robot manipulators is too large. in this paper, we propose an approach, motivated by the equilibrium-point hypothesis in human motor control, to simplify the learning space when learning controllers are used to govern robot motions. In the proposed approach, the motion command is formulated in the form of three square pulses in alternate directions with adjustable heights and widths. When the motion command is specified in this simple form, the learning space for dealing with variations exhibited in different movements is dramatically simplified. Thus, we can then implement a fuzzy system for robot motion control, which generates appropriate controlled parameters for the motion commands by using a reasonable number of rules. Theoretical analyses and simulations are performed to demonstrate the feasibility of the proposed approach. (C) 1998 Elsevier Science B.V.en_US
dc.language.isoen_USen_US
dc.subjectroboticsen_US
dc.subjectlearning controlen_US
dc.subjectlearning space simplificationen_US
dc.subjecthuman motor controlen_US
dc.subjectfuzzy systemen_US
dc.titleAn approach to simplify the learning space for robot learning controlen_US
dc.typeArticleen_US
dc.identifier.journalFUZZY SETS AND SYSTEMSen_US
dc.citation.volume95en_US
dc.citation.issue1en_US
dc.citation.spage23en_US
dc.citation.epage38en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000072304700002-
dc.citation.woscount5-
Appears in Collections:Articles


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