BUILDING UP A REPETITIVE CONTROL LAW (RCL) WITH DESIRED TRAJECTORY PERIODIC SO REDUCED ONLINE COMPUTATION FOR ROBOT ALMEGA 16

Abstract

This paper presents a build of Repetitive Control Law with desired trajectory
periodic in joint space so reduced on-line computation for the motion system of
the Almega16 manipulator. In a Repetitive Control Law always has the desired
cycle trajectory with time T and always provides state information update on the
time-variant parameters. The true value is compared to the reference set-point
and its evaluation result is input to the controller for adjustment. The results
from Matlab - Simmechanic simulations and experiments show that the motion
system of Robot Almega16 satisfies the requirement of a control system: the
errors of rotating joints quickly converge to zero within a short transient time, so
that closed-loop system is stable based on Lyapunov method.