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7Repetitive Control Scheme of Robotic Manipulators Based on Improved B-Spline FunctionComplexity 2021 1-15. 2021.In this paper, a repetitive control scheme of a 2-DOF robotic manipulator based on the improved cubic B-spline curve is proposed. Firstly, a repetitive controller for robotic manipulator is designed, which is composed of an iterative controller and disturbance observer. Then, an improved B-spline optimization scheme is introduced to divide the task of the robotic manipulator into three intervals. A correction function is added to each interval of cubic spline interpolation. Finally, a variety of…Read more
Ann Arbor, Michigan, United States of America
Areas of Interest
19th Century Philosophy |
20th Century Philosophy |