Adaptive Iterative Learning Control for Robot Manipulators with Initial Resetting Errors

Abstract:

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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 and 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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Price:

$35.00

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