CONVERGENCE AND ROBUSTNESS OF A DISCRETE-TIME LEARNING CONTROL SCHEME FOR CONSTRAINED MANIPULATORS

The constrained motion control is one of the most common control tasks found in many industrial robot applications. The nonlinear and nonclassical nature of the dynamic model of constrained robots make designing a controller for accurate tracking of both motion and force a difficult problem. In this article, a discrete-time learning control problem for precise path tracking of motion and force for constrained robots is formulated and solved. The control system is able to reduce the tracking error iteratively in the presence of external disturbances and errors in initial condition as the robot repeats its action. Computer simulation result is presented to demonstrate the performance of the proposed learning controller. (c) 1994 John Wiley & Sons, Inc.