Modified Iterative Control for the Base Joints of a Heavy-Load Manipulator

Aiming at the base joints of heavy-load manipulator for high-precision assembly, this paper proposes a new modified iterative learning controller based on the idea of iterative learning control to solve the problem of low assembly accuracy. According to the kinematic analysis of the base joints for the controlled object, we build the velocity Jacobi relationship between the linear drive slider and the base joints. Further, the traditional and modified iterative learning controller are applied to the angular trajectory tracking for the base joints. The simulation results show that the proposed modified controller can effectively improve the trajectory tracking accuracy than the traditional PD iterative learning controller under the disturbed environment and model mismatched situation.