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This chapter considers the application of iterative learning control to two robotic platforms, an application area that iterative learning control originated from. A gantry robot and an anthropomorphic robotic arm are considered. Experimental results for the key algorithms introduced in this book, namely, norm optimal iterative learning control (and its accelerated version) and design with and without system constraints, are presented.

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Application to Robotic Systems

  • 章节

  • 发表日期：

    2025年

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  • Bing Chu,
  • David H. Owens

摘要

This chapter considers the application of iterative learning control to two robotic platforms, an application area that iterative learning control originated from. A gantry robot and an anthropomorphic robotic arm are considered. Experimental results for the key algorithms introduced in this book, namely, norm optimal iterative learning control (and its accelerated version) and design with and without system constraints, are presented.