Open AccessDual-Loop Iterative Learning Control of Robot Manipulator for Human-Robot cooperation
Author(s) -
Jianyong Lai,
Shuping Jin,
Peng Xia,
Jie Huang,
Pingzhi Yuan
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1846/1/012090
Subject(s) - iterative learning control , control theory (sociology) , trajectory , robot , computer science , dual (grammatical number) , controller (irrigation) , robot manipulator , control engineering , parallel manipulator , scheme (mathematics) , robot control , mobile manipulator , control (management) , engineering , artificial intelligence , mobile robot , mathematics , art , literature , mathematical analysis , physics , astronomy , agronomy , biology
This paper proposed a dual-loop iterative learning control strategy for robot manipulator in the situation of repetitive human-robot interaction. By utilizing the contact force between the human and the manipulator, a force-based loop is first conducted to produce the unknown desired trajectory of the manipulator. According to Lyapunov’s method and using the back-stepping technique, an adaptive iterative learning controller is presented to fulfill the trajectory tracking task of the robot manipulator, in spite of the model uncertainties and the unknown disturbances. The proposed control scheme is verified by numerical simulation on a robot manipulator with two degrees-of-freedom.