Learning control system design for a parallel link robot manipulator

A method of iterative learning control system design based on the two-dimensional (2D) theory is applied to the trajectory tracking control problem for the parallel link robot manipulator designed at the National Institute of Standards and Technology (NIST). The 2D model for the iterative learning control system which reveals the connections between learning control systems and 2D system theory, is established. A novel learning control algorithm whose convergence is guaranteed by 2D stability is proposed and applied successfully to the parallel-link robot manipulator. The excellent performance of the learning algorithm is demonstrated by computer simulation results