Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors

Jian Ming Wei; Yun An Hu

doi:10.4028/www.scientific.net/AMM.130-134.265

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 130-134Adaptive Iterative Learning Control for Robot...

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.

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Periodical:

Applied Mechanics and Materials (Volumes 130-134)

Pages:

265-269

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.130-134.265

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Online since:

October 2011

Authors:

Jian Ming Wei, Yun An Hu

Keywords:

Adaptive Iterative Learning Control (AILC), Initial Resetting Errors, Robot Manipulator

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References

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