Research of Adaptive Iterative Learning Algorithm for Industrial Manipulator
نویسندگان
چکیده
A three degree dynamic model of manipulator included a screw-nut auxiliary is introduced. Considering the random disturbance and the to the manipulator in practical situation , the adaptive iterative learning controller is designed. The simulation was conducted under MATLAB environment ,the result shows that the controller can efficiently track the trajectory with high accuracy. The result of the change of screw-nut auxiliary’s parameters on the controller’s tracking effect is also analyzed.
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تاریخ انتشار 2013