An iterative learning controller for robot manipulators with flexible joints

Abstract EN

In this paper a higher order iterative learning control scheme is proposed for flexible-joint manipulators to improve their tracking accuracy.

Tracking control can be carried out by using the proposed learning law as a repeatation of the manipulation task without perfect knowledge of the robot dynamics flexible joint.

The proposed learning control scheme utilize more than one past error history in the trajectories that are generated at prior iterations, the convergence proof is given and examples are provided to show the effectiveness of the algorithm .

simulation results indicate that the proposed learning control method has better convergence speed and robustness of the algorithm against error in initial setting and disturbances is studied through computer simulations .