Real-time control of a robotic manipulator performing a repetitive task

A simple scheme for improving the accuracy, of a robotic manipulator is presented whereby the robot will improve its performance at a task each time the task is repeated. The system uses a series of parallel integrators which is robust to changes in the robot´s parameters. The scheme is called the P-integrator controller. An on-line study of the system in the six degree-of-freedom SIR-3 robotic manipulator has indicated that a great improvement in the end points´ positional errors can be achieved by the use of the P-integrator controller. Both the hardware modules and the software requirements in controlling the SIR-3 robotic manipulator are described