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A learning control algorithm for periodic robot synchronization: Experimental results
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DOI：10.1002/acs.2868.png)
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Abstract
En 中文
A repetitive learning control algorithm, that achieves asymptotic joint position tracking for robotic manipulators characterized by uncertain dynamics and performing a repetitive task, can be theoretically and experimentally endowed with a recursive period identifier. Experimental results illustrate its application to a 2-link robot master-slave synchronization problem, in which the joint positions of the master, ie, periodic with uncertain and even time-varying period, are only available at runtime.
Keywords:
learning control
nonlinear systems
period identifier
robot manipulators
synchronization
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