Trajectory Tracking of a One-Link Flexible Arm via Iterative Learning Control
Michele Pierallini,Franco Angelini,Riccardo Mengacci,Alessandro Palleschi,Antonio Bicchi,Manolo Garabini,Michele Pierallini,Franco Angelini,Riccardo Mengacci,Alessandro Palleschi,Antonio Bicchi,Manolo Garabini
Trajectory tracking of flexible link robots is a classical control problem. Historically, the link elasticity was considered as something to be removed. Hence, the control performance was guaranteed by adopting high-gain feedback loops and, possibly, a dynamic compensation with the result to stiffen up the dynamic behavior of the robot. Nowadays, robots are pushed more and more towards a safe phys...
