Feedforward enhancement through iterative learning control for robotic manipulator
This work presents an iterative learning control (ILC) algorithm to enhance the feedforward control (FFC) for robotic manipulators. The proposed ILC algorithm enables the cooperation between the ILC, inverse dynamics, and a PD feedback control (FBC) module. The entire control scheme is elaborated to...
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| Main Authors: | , , , |
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| Format: | Default Conference proceeding |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://hdl.handle.net/2134/17009078.v1 |
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