Iterative learning control of robots with elastic joints

Abstract

The design of a repetitive learning controller for robots with elastic joints, following a frequency-domain approach, is presented. An efficient and simple iterative learning algorithm is presented, allowing solution of the output tracking problem with limited knowledge of system dynamics and using only a linear stabilizing feedback on the motor variables. Simulation results reported for a two-link planar robot under gravity showed good motion performance in this critical case.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>