Title: Wavelet series based iterative learning controller design for industrial robot manipulators

Authors: Selvaraj Gopinath, Indra Narayan Kar, R.K.P. Bhatt

Addresses: Control and Optimization Group, Research Department, Corporate Research, ABB Global Industries and Services Ltd., White field Road, Bangalore 560048, India. ' Digital Control Laboratories, Department of Electrical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110016, India. ' Digital Control Laboratories, Department of Electrical Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110016, India

Abstract: In this paper, a wavelet series based learning controller has been proposed for the tracking control of robot manipulator. Wavelet series approximation is used to approximate the desired and actual trajectories of the system into finite number of wavelet coefficients. A learning controller is designed in wavelet domain which forces the wavelet coefficients of the actual output approach to the corresponding wavelet coefficients of the desired trajectory, which are known constants, such that the tracking of robot manipulator is achieved. Numerical experimentation studies show the ability of the learning controller designed in wavelet domain in the presence of uncertainties in robot manipulator system.

Keywords: wavelet series; integral wavelet transforms; learning control; robot control; iterative learning; controller design; industrial robots; manipulator control; tracking control; robot trajectories.

DOI: 10.1504/IJCAT.2009.024596

International Journal of Computer Applications in Technology, 2009 Vol.35 No.1, pp.61 - 72

Received: 10 Aug 2006
Accepted: 17 Sep 2007
Published online: 10 Apr 2009 *

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