Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity

Table 2

Initial values and gain settings in the case of the 4-DOF planar robot arm.

(a)

Terminal time	$T$	2.0 [s]
Initial posture	$q_1(0)$	21.02 [deg]
	$q_2(0)$	75.47 [deg]
	$q_3(0)$	44.20 [deg]
	$q_4(0)$	64.87 [deg]

(b)

Gains	$k$	10 [N/m]
	${\zeta }_0$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}0.5\mathrm{\hspace{0.17em}\hspace{0.17em}}[-]\mathrm{\hspace{0.17em}\hspace{0.17em}}$
	${\zeta }_1$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}2.5\mathrm{\hspace{0.17em}\hspace{0.17em}}[-]\mathrm{\hspace{0.17em}\hspace{0.17em}}$
	$\mathrm{\Phi }$	$\mathrm{\hspace{0.17em}\hspace{0.17em}}10.0\mathrm{\hspace{0.17em}\hspace{0.17em}}[-]\mathrm{\hspace{0.17em}\hspace{0.17em}}$
	$c_1$	0.862 [Nms]
	$c_2$	0.569 [Nms]
	$c_3$	0.129 [Nms]
	$c_4$	0.0356 [Nms]