Simulation Results of Learning Control for Coordinating Two Planer Manipulators

This applet program shows a computer simulation result of learning control for coordinating two planer manipulators. It is possible to see the motion of coordinated system without learning (0-th trial), after 10 trials and after 30 trials. The red lines show the desired motion of system.

For the detail of the learning control law, please see following:

• Tomohide Naniwa, Suguru Arimoto and Kenzo Wada, ``Learning and Adaptive Controls for Coordination of Multiple Manipulators without Knowing Physical Parameters of an Object,'' Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 20-25, 1997, pp.1496--1502.