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- W2742846542 abstract "This paper describes a backward learning scheme to obtain the initial configuration of a hyper redundant robot in the learning control based on linear combination of error history. The robot iteratively searched more suitable initial configuration by tracing the desired trajectory in opposite direction from the end point of the last learning trial. The proposed method was quantitatively examined with the accumulated error of main task and the achievement index of subtasks through several simulations with a 10R planar serial manipulator. The obtained results revealed that the backward learning scheme was effective and useful." @default.
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- W2742846542 date "2005-01-01" @default.
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- W2742846542 title "2813 Motion Control of Hyper Redundant Robots by Use of Learning Control Based on Linear Combination of Error History : Acquisition of Initial Configuration by Using Backward Learning" @default.
- W2742846542 doi "https://doi.org/10.1299/jsmemecjo.2005.4.0_221" @default.
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