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

<div>Applied force for joint <svg height="9.39034pt" id="M318" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 11.3878 9.39034" width="11.3878pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M474 429L457 433C435 440 389 448 367 448C348 448 323 446 309 443C266 434 195 406 148 366C78 307 23 210 23 101C23 35 55 -12 92 -12C118 -12 146 1 196 35C247 70 311 130 346 173H348L281 -148C268 -211 256 -221 208 -229L191 -232L187 -257L433 -245L437 -219L411 -216C357 -210 350 -205 362 -140L427 207C447 315 461 381 474 429ZM387 387C379 337 363 262 355 236C318 180 201 57 142 57C126 57 112 81 112 128C112 205 150 321 220 376C244 395 280 403 312 403C345 403 370 396 387 387Z" id="g113-114"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="491" vert-adv-y="491"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.318,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 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vert-adv-y="492"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,55.952,0)"><path d="M399 120C363 89 334 79 292 79S154 123 154 256C154 363 199 401 238 401C266 401 298 385 339 349C348 341 354 338 361 338C378 338 404 364 404 393C405 407 401 419 386 429C369 443 336 454 300 454H299C261 454 196 440 130 392C67 345 29 274 29 201C29 92 109 -12 246 -12C307 -12 372 31 418 96L399 120Z" id="g13-97"></path><glyph.data ascent="1024" descent="-360" horiz-adv-x="422" vert-adv-y="422"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,61.438,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z" id="g113-42"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="346" vert-adv-y="346"></glyph.data></g></svg> control scheme.</div>

Mathematical Problems in Engineering

fig18

Figure 18

Figure 18: Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator 