Application Of Iterative Learning Control In Robot

This paper presents the application of iterative learning control in robot. Iterativelearning control algorithms have been designed under the condition of zero initial error andnon-zero initial error. The convergence of the algorithms has been proved using theLyapunov stability theory. Finally, simulations on the robot have been given. This papercontains mainly the following:1. Robot dynamics and kinematics. The construction of the dynamics of robot has beenpresented, along with the kinematics of robot.2. Iterative learning control. Different kinds of Iterative Learning Control algorithms underthe condition of zero initial error and the non-zero error have been introduced.3. The application of iterative learning control under the condition of zero initial error.Novel D-type and PD-type iterative learning control algorithms proofs of convergenceand their application in robot are presented.4. The application of iterative learning control under the condition of non-zero initial error.Novel D-type and PD-type iterative learning control algorithms. proofs of convergenceand their application in robot are presented.Finally, numerical simulations on the robot are given to show the effectiveness androbustness of the control algorithms.