Nonlinear Phenomena in Complex Systems, 2008, Vol.11, No.3, pp.327-335

NONLINEAR PHENOMENA IN COMPLEX SYSTEMS
An Interdisciplinary Journal

2008, Vol.11, No.3, pp.327-335

Iterative Learning Control for Robot Manipulators.
F. Bouakrif, D. Boukhatala, and F. Boudjema

In this paper, we present a time-domain iterative learning control scheme for industrial manipulators, the proposed control scheme comprises a computed torque control designed exploiting the approximated linear model of a manipulator and a learning law to compensate effects of nonlinear terms that are ignored in obtaining the linear model. We show that the iterative learning controller is capable of effectively canceling the disturbances caused by nonlinear terms, leading to improved tracking accuracy. The conditions for convergence are analysed, including the effect of modelling errors. To highlight the performances of this approach, several tests are performed on the PUMA 560 robot manipulator model. Simulation results shows clearly efficiency of the proposed scheme.
Key words: Iterative learning control, nonlinear terms, computed torque control, robot manipulator PUMA 560

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