Cartesian-based learning control for robots in discrete-time formulation

Classical and adaptive control of robot manipulators can be either joint-based or Cartesian-based. The formulation schemes of learning control of manipulators subject to repetitive operation described in the literature are apparently all based on the joint space. A new discrete-time formulation of Cartesian-based iterative learning control is developed in which partial knowledge of the robot dynamic model is utilized. From the characteristics and implementation points of view, it appears to be more attractive than existing learning control schemes. The convergence issue is particularly addressed