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

<div><svg height="12.5416pt" id="M180" style="vertical-align:-3.25327pt" version="1.1" viewbox="-0.0498162 -9.28833 61.3504 12.5416" width="61.3504pt" 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="M338 322C336 342 324 413 314 436C291 446 264 454 218 454C113 453 50 390 50 312C50 226 131 187 178 164C239 135 253 110 253 81C253 51 231 27 199 27C138 27 91 96 69 159L40 156C40 108 49 38 55 22C76 7 128 -12 181 -12C265 -12 360 37 360 136C360 214 306 249 225 284C174 307 151 330 151 361C151 393 176 415 202 415C249 415 281 374 308 313L338 322Z" id="g13-113"></path><glyph.data ascent="1024" descent="-360" horiz-adv-x="383" vert-adv-y="383"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.031,0)"><path d="M465 45L455 77C444 72 433 69 421 69C404 69 389 81 389 128V293C389 349 380 392 337 425C310 445 280 454 239 454C182 443 111 409 73 383C51 366 38 353 38 335C38 309 74 285 101 285C121 285 136 293 143 319C151 350 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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 architecture of the RMM.</div>

Mathematical Problems in Engineering

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Figure 2

Figure 2: Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator 