Abstract
This paper proposed a dual-loop iterative learning control strategy for robot manipulator in the situation of repetitive human-robot interaction. By utilizing the contact force between the human and the manipulator, a force-based loop is first conducted to produce the unknown desired trajectory of the manipulator. According to Lyapunov’s method and using the back-stepping technique, an adaptive iterative learning controller is presented to fulfill the trajectory tracking task of the robot manipulator, in spite of the model uncertainties and the unknown disturbances. The proposed control scheme is verified by numerical simulation on a robot manipulator with two degrees-of-freedom.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
