Tracking control of a belt-driving system using improved Fourier series based learning controller

The flexible joints in robotic manipulators may lower the bandwidth of the robotic system. Therefore, it is difficult to achieve good control performance on robots with flexible joints by the conventional control schemes. In this paper, we presented the implementation and improvement of the Fourier series based learning controller for tracking control of a belt-driving system which is one type of flexible joints. Experimental results demonstrate the effectiveness of the applied methodology.