An Iterative Learning Control Method with Application for the Robot Manipulator
- An Iterative Learning Control Method with Application for the Robot Manipulator
- 오상록; 변증남; 서일홍
- Issue Date
- IEEE journal of robotics and automation
- VOL 4, NO 5, 508-514
- An iterative learning control method is presented for a class
of linear periodic systems, in which a parameter estimator of the system
together with an inverse system model is utilized to generate the control
signal at each iteration.
A convergence proof is given and two numerical examples are
presented to show the validity of the algorithm. In particular, it is shown
that the method is useful for the continuous path control of robot
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