Research Article
Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline Function
Figure 6
Input modification scheme of manipulator controller based on improved 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.
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