Implementation of a tracking learning controller for an industrial manipulator

The paper describes the design and the implementation, of a learning controller for a series industrial manipulator SMART 6.12 from COMAU S.p.a. The controller iteratively improves the system performance along a repetitive trajectory by building the required off-line input processing the recorded error. It has been realized with minor additions to the existing controller, which remains fully operational. Experimental results demonstrate its effectiveness. >