A learning control algorithm for periodic robot synchronization: Experimental results

摘要

A repetitive learning control algorithm, that achieves asymptotic joint position tracking for robotic manipulators characterized by uncertain dynamics and performing a repetitive task, can be theoretically and experimentally endowed with a recursive period identifier. Experimental results illustrate its application to a 2-link robot master-slave synchronization problem, in which the joint positions of the master, ie, "periodic" with uncertain and even time-varying period, are only available at runtime.