Flexible manipulator trajectory learning control with input preshaping method

A discrete-time formulation of Cartesian-based iterative learning control with input preshaping method is developed in which partial knowledge of the flexible robot kinematic model is utilized. An advantage of this control method in real implementation is that it does not require the derivative of the end-effector´s position, i.e. the velocity of the end-effector. From the characteristics and implementation points of view, it appears to be more attractive than existing control schemes. The convergence analysis is particularly addressed