In this paper, a novel repetitive control (RC) scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodeled dynamics that cyclically affect it. By exploiting the fact that uniform B-spline trajectories can be generated by means of dynamic filters, the trajectory planning phase has been integrated within an RC scheme that is able to modify in real time the reference signal in order to nullify the tracking errors occurring at the desired via-points. Because of this mechanism, the control scheme is very suitable for the application to industrial plants with off-the-shelf, unmodifiable controllers. Experimental results obtained with a standard industrial manipulator both in joint space and in workspace show the effectiveness of the proposed method.

中文翻译：

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通过迭代参考轨迹修改提高工业机器人的精度

本文提出并讨论了一种新颖的重复控制（RC）方案。通用框架是控制机器人系统，或更一般而言，自动机器的重复任务。拟议方案的关键思想在于修改提供给工厂的参考轨迹，以补偿周期性影响其的外部负载或未建模的动力学。通过利用可以通过动态滤波器生成均匀的B样条曲线轨迹这一事实，轨迹规划阶段已集成到RC方案中，该方案能够实时修改参考信号，以消除出现在以下位置的跟踪误差所需的通孔点。由于这种机制，该控制方案非常适合应用于带有现成的，不可修改的控制器的工业工厂。