Feedforward Enhancement through Iterative Learning Control for Robotic Manipulator
(2021)
Conference Proceeding
Liu, C., Wang, M., Li, X., & Ratchev, S. (2021). Feedforward Enhancement through Iterative Learning Control for Robotic Manipulator. . https://doi.org/10.1109/CASE49439.2021.9551523
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)... Read More about Feedforward Enhancement through Iterative Learning Control for Robotic Manipulator.