Novel leaning feed-forward controller for accurate robot trajectory tracking

Abstract

This paper presents a novel learning feed-forward controller design approach for accurate robotics trajectory tracking. Based on the joint nonlinear dynamics characteristics, a model-free learning algorithm based on Support Vector Machine (SVM) is implemented for friction model identification. The experimental results verified that SVM based learning feed-forward controller is a good approach for high performance industrial robot trajectory tracking, It can achieve low tracking error comparing with traditional trajectory tracking control method.