Learning control for robot manipulators

Abstract eng:
In this paper it is considered an iterative learning control algorithm for trajectory tracking of robots with unknown parameters, as masses of links or inertial momentums etc. The control schemes are based on using of a proportional derivative feedback , for which an iterative term is added to cope with the unknown parameters and disturbances. The control design is simple in the sense that only requirements on the PD and learning gains are the positive definiteness considerations. Arbitrary bounds of the robot parameters are not needed. The number of iterative variables in common algorithms are equal to the number of control inputs, but in this paper this one are defalcated only on two.

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