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

Table 1

Physical parameters of RMM.

Parameters
Moment of inertia ,	—	0.38	0.0152	0.0038
Link mass ,	4.75	3.67	3.16	1.74
Link length	—	0.35	0.24	0.15