Application of learning control to a robotic arm for exercises

Yeong Soon Ryu, Zhiming Ji, Qun Yu

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationDynamic Systems and Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages5
ISBN (Print)0791836290, 9780791836293
StatePublished - 2002

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering


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