Abstract
The theory and implementation results of a recently developed class of adaptive and repetitive controllers used for motion control of robot manipulators are presented. The repetitive controller, which learns the input torque corresponding to a repetitive desired trajectory, requires no explicit knowledge of the manipulator equations of motion. The adaptive controller, on the other hand, which estimates the robot dynamic parameters on-line, may be used for more general trajectories but requires more detailed modeling information. Both schemes are computationally efficient and require no acceleration feedback of any kind; only standard position and velocity feedback information is utilized.
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