Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: , a novel repetitive control scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodelled dynamics that cyclically affect it. By exploiting the dynamic filters for the B-spline trajectory planning, it has been possible to integrate the trajectory generation within a repetitive control scheme able to modify in real-time the reference signal with the aims of nullify interpolation errors. Experimental results obtained controlling two joints of a standard industrial manipulator are reported, showing the effectiveness of the proposed method.
['Luigi Biagiotti', 'Lorenzo Moriello', 'Claudio Melchiorri']
I am writing a research paper on a idea A repetitive control scheme for industrial robots based on b-spline trajectories
[{"from": "human", "value": "I am writing a research paper on a idea A repetitive control scheme for industrial robots based on b-spline trajectories"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: , a novel repetitive control scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodelled dynamics that cyclically affect it. By exploiting the dynamic filters for the B-spline trajectory planning, it has been possible to integrate the trajectory generation within a repetitive control scheme able to modify in real-time the reference signal with the aims of nullify interpolation errors. Experimental results obtained controlling two joints of a standard industrial manipulator are reported, showing the effectiveness of the proposed method."}]