A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is
Iterative learning control (ILC) has been shown to be effective in improving tracking performance of repetitive tasks, and is widely used in the motion control systems of CNC machines, semiconductor manufacturing equipment, hard disk drives, etc. However, applying ILC to robot manipulators requires careful consideration of nonlinear dynamics. We propose using a computed torque controller and the disturbance observer (DOB) to robustly linearize the dynamics of robot manipulators. The PD feedbackdoi:10.5875/ausmt.v7i3.1410 fatcat:nhycglxfkbbw7h2ghcfs3yk3dm