Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator

@article{Abdellatif2006IterativeLC,
  title={Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator},
  author={Hamdoun Abdellatif and Bodo Heimann},
  journal={2006 IEEE International Conference on Mechatronics},
  year={2006},
  pages={398-403}
}
Iterative learning control (ILC) is proposed in this paper for the enhancement of tracking accuracy of a parallel direct driven manipulator. It is shown by means of a simulation study and by experimental results, that linear ILC is appropriate for application to the considered high nonlinear and coupled system. For this purpose, it is necessary to map the… CONTINUE READING