Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator

Figure 1

Double column layout of conceptual design of the RMM unit [47]. Legend: 1: support frame, 2: complex rolling slider, 3: robot manipulator, 4: direct drive motor case, 5: link 2, 6: tool post, 7: cutting tool, and 8: work holder.