Repetitive Learning Controller for Six Degree of Freedom Robot Manipulator

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In this paper a repetitive learning control of robot manipulator is presented. The trajectory tracking performance and control of the robot manipulator is studied by applying the controller. The validity of the above controller is shown by the simulation results of six degree of freedom robot manipulator. Simulation results are also compared with the existing conventional controller such as PD, computed torque and decentralized controller. Finally it is concluded that the proposed controller produce superior trajectory tracking performance and minimized trajectory tracking error.
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PUMA Manipulator; Repetitive Learning Control; Computed Torque Control; PD Control; Decentralised Adaptive Control

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