Repetitive control scheme for industrial robotic manipulator using B-spline function

Industrial robotic manipulator is a nonlinear, strong coupling, time-varying system, which is affected by various uncertain factors such as unmodeled dynamics, parameter changes, external interference, friction and so on. Therefore, it is very important to improve the trajectory tracking accuracy, convergence speed and trajectory smoothness of the manipulator. A new controller is designed in this paper. By generating uniform B-spline trajectories, the trajectory planning stage has been integrated into a repetitive control scheme that can modify the reference signal in real time, so as to eliminate the tracking error at the desired path point. In theory, the control scheme is very suitable for the application of industrial equipment with non-open source controller. The simulation results show that the method is effective.