机器人二维运动轨迹精度的学习控制算法研究

Research on learning control algorithm of locus accuracy in 2-dimension motion of a robot

本文针对工业机器人常应用于重复作业场合，提出了改进的迭代学习算法－PD学习算法，并讨论了学习因子的优化选取方法，仿真结果表明：该控制方法应用于机器人二维轨迹控制场合简单易行，效果理想。

This paper puts forward the improved iterative(PD)leaming algorithm ,and discusses the optimal selection method of learning factors.control in a robot is simple and effective.