Research Article
Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function
Figure 3
Input modification scheme of manipulator controller based on conventional B-spline optimization (control points with nonuniform distribution). (a) Controller input and compensator output in part 1. (b) Controller input and compensator output in part 2. (c) Controller input and compensator output in part 3. (d) Comparison and error of reference position and measurement position.
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