Learning control for robotic manipulators in discrete-time formulation

A new discrete-time formulation of iterative learning control is developed in which partial knowledge of the robot dynamic model is utilized. From the characteristics and implementation points of view, it appears to be more attractive than existing learning control schemes. The convergence issue is particularly addressed. Moreover, effectiveness of this control method is demonstrated through computer simulations in which PUMA 560 robot with first three degrees of freedom is used