Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom industrial robots

摘要

In this article, an adaptive iterative learning control (AILC) scheme has been proposed to enhance the accuracy of the dynamic path tracking of 6-degrees of freedom industrial robots. Based on the memorized data and current feedback from a three-dimensional visual measurement instrument, an adaptive algorithm is developed to update the time-varying control parameters of the AILC scheme iteratively. A new compensation signal is calculated to adjust the control inputs produced by the dynamic path tracking control module at each time interval. Through the adaptation algorithm, the identical initial conditions can be relaxed to some extent with the AILC scheme. Moreover, the stability analysis of the proposed AILC scheme is presented. Experimental results on FANUC M20iA, using C-Track 780 as a photogrammetry sensor, demonstrate the superior performance of the developed AILC scheme in terms of pose accuracy, disturbance rejection ability, and control performance.