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

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vert-adv-y="346"></glyph.data></g></svg> control scheme.</div>

Mathematical Problems in Engineering

fig22

Figure 22

Figure 22: Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator 