Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function

Figure 5

Input modification scheme of manipulator controller based on conventional B-spline optimization. (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.

(a)

(b)

(c)

(d)