Position control of a direct-drive arm using novel repetitive control

Abstract

A repetitive control method with a learning process is proposed to drive the horizontal axis direct drive robot arm. The control strategy based on the periodicity of the arm action is applied to not only speed control but also position control in which the arm reciprocates between two arbitrary points. A position-memory type and a time-memory type are proposed. Availability of this repetitive control method is confirmed by experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>