The Compound ILC based on Swing Compensation for an On-board Manipulator

In order to solve the problems of low-precision assembly by an on-board manipulator, this paper put forward a new iterative learning controller with swing compensation to keep high-precision motion for the base joints. By analyzing the velocity relationship of the coordinate transformation, we get the swing disturbance compensation model to manipulator. Further, combined with feedforward compensation method, the compound iterative learning controller (ILC) is used to improve the trajectory tracking performance of the base joints. The simulation results indicate that the new modified compound controller has better control performance than traditional iterative learning controller in terms of trajectory tracking accuracy when under the onboard swing environment.