Research on Articulated Robot Control Based on High-order Internal Model Iterative Learning
Zhou Qinyuan
Hu Xianzhe
Abstract：In order to improve the tracking accuracy and response speed of the articulated robot in the working process under non-strict repetitive conditions,a three-joint articulated robot model is designed,and the kinematics and dynamics analysis are carried out to verify the reasonable structure of the model.In view of the non-repetitive and nonlinear characteristics of the articulated robot system,it is proposed that a high-order in-ternal model iterative learning control algorithm can be applied to the control of the articulated robot system.A reasonable learning gain and a higher internal model order are designed to strictly prove its convergence in theo-ry.The simulation contrast experiment and the trajectory tracking experiment after adding the disturbance are designed.The results show that the high-order internal model iterative learning algorithm converges faster and has good control effect.
Keywords：Articulated robotHigh-order internal modelIterative learning controlTrajectory track-ing
Publication Date：2024-01-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：8( 20-27 )