一类关节型机器人操作手的迭代学习控制

针对一类机器人操作手，提出了一种设计机器人操作手迭代学习控制的新方法，与其它现有的迭代学习控制方法相比较，当折合到机器人操作手关节轴上的驱动装置惯量足够大时，可以用驱动装置的动力学特性参数确定学习增益，克服了传统迭代学习控制方法由多次尝试选取学习增益的缺点，增强了实用性。在实际机器人操作手上的实验结果充分表明了新提出方法可获得较高学习速度和控制精度的优越性。

Iterative Learning Control for A Class of Robot Manipulators

A new method of iterative learning control is presented for a class of robot manipulators. In contrast to other known methods of iterative learning control, the proposed method can utilise dynamic parameters of the drive device to determine the learning gain terms if the inertia of drive device translated to joint is enough large. For majority industrial robot manipulators, this condition can be satisfied because they usually have higher transmission ration between drive device and joint. Therefore, it is avoided to determine the learning gain terms through objectivity. An experiment for a robot mainpulator with three degree free is carried out to show effectiveness of the method, and via experiment, it is demonstrated that the method yeilds high learning speed and high control accuracy.