Paper Title:
Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors
  Abstract

In this paper, an adaptive iterative learning control is presented for robot manipulators with unknown parameters, performing repetitive tasks. In order to overcome the initial resetting errors, an auxiliary tracking error function is introduced. The adaptive algorithm is derived along the iteration axis to search for suitable parameter values. The technical analysis shows convergence of the tracking errors. Finally, simulation results are provided to illustrate the effectiveness of the proposed controller.

  Info
Periodical
Edited by
Han Zhao
Pages
265-269
DOI
10.4028/www.scientific.net/AMM.130-134.265
Citation
J. M. Wei, Y. A. Hu, "Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors", Applied Mechanics and Materials, Vols. 130-134, pp. 265-269, 2012
Online since
October 2011
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