AN ITERATIVE LEARNING CONTROL FOR MANIPULATORS BASED ON INTERNAL MODEL

In this paper, a disturbance controller is designed for making robotic system behave as a decoupled linear system according to the concept of internal model. Based on the linear system, the paper presents an iterative learning control algorithm for robotic manipulators. A sufficient condition for convergence is provided. The parameter choice of the algorithm is simple and easy to meet the convergence condition. The simulation results demonstrate the effectiveness of the algorithm.