Stability Control of Transport Robot Based on Iterative Learning Control

摘要

Abstract In this study, stability control for transport process of transport robot subjected to 2R manipulator movement, is investigated based on iterative learning control (ILC). The joint positions, speeds and accelerations are used as variables to establish the expression of driving torques of manipulator joints. According to the experience, the linear interference torque in the process of motion is determined. Three ILC algorithms are applied to achieve stability control, and good trajectory tracking results are obtained. Position tracking, speed tracking, and the maximum position error in the process of tracking are illustrated, and through the absolute value of the maximum error, the optimal iterative algorithm is finally determined.