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Application of Learning Control to a Robotic Arm for Exercises

[+] Author Affiliations
Yeong Soon Ryu

Andong National University, Kyungbuk, Korea

Zhiming Ji, Qun Yu

New Jersey Institute of Technology, Newark, NJ

Paper No. IMECE2002-32675, pp. 819-823; 5 pages
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME


An application of a simple and effective learning control scheme to a robotic arm for exercise is presented. During exercises, the force applied by a user to an exercise machine varies for different users and for different workouts of the same user. Learning control is used to compensate for the difference between the actual force and the planned force. It is shown through simulation that the learning control method decrease tracking error quickly for both time-invariant and time-varying forcing functions.

Copyright © 2002 by ASME
Topics: Robotics



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