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An iterative learning control method with application to robot manipulators

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3 Author(s)
Sang-Rok Oh ; Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Zeungnam Bien ; Il Hong Suh

An iterative learning control algorithm for a class of linear periodic systems is proposed in which parameter estimation is performed in the domain of an iterative sequence of operations with the time frozen. A sufficient condition for the convergence of the proposed algorithm is given. It is also shown that the proposed learning controller can be applied to the continuous path control of robot manipulators. It is noted that the proposed algorithm works reasonably well only for the case of small perturbations with respect to a nominal trajectory

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 5 )

Date of Publication:

Oct 1988

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