Plug in repetitive control for industrial robotic manipulators

Abstract

The implementation of plug-in repetitive control on the direct drive axis of a prototype GMF A500 robot is considered. Plug-in repetitive control was developed and implemented using an IBM AT. A multirate sampling algorithm was designed to reduce the memory requirements of repetitive control. A microcontroller board based on the Intel 8096 was designed so that plug-in repetitive control could be applied from a small unit embedded within the KAREL controller. In each application, experimental results show that the tracking error is smoothly absorbed in a few cycles.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>