Trajectory Control of Manipulators Based on Discrete Time Learning Control with 2-Delay Input Control Technique

摘要

A learning control based on repetitive operations of robotic manipulators is one of the most promising method to realize high speed and high precision control for robotic manipulators. The joint servo system usually has an unstable zero in discrete-time domain. This fact leads to unstable learning, when a sampling period is small. In previous paper, we have proposed a new learning algorithm based on so-called 2-delay input method, By using the 2-delay input method we can stabilize the unstable zero and realize the stable learning even if the sampling period is small. However, concrete algorithm for parameter design and experimental results have not been shown yet. In this paper, we propose new design algorithm of two parameters in 2- delay input system especially to suppress ripple of the trajectory and show some experimental results to verify effectiveness of the proposed method.