Aiming at dynamic model uncertainties and load disturbances of robot manipulators, an iterative learning control scheme using neural networks is presented.
针对机器人动力学模型的不确定性和负载扰动，提出了一种采用神经网络的机器人迭代学习控制方法。
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B-spline Learning Feed-Forward control (LFFC) is a control strategy to obtain accurate tracking and is subject to reproducible disturbances.