玻璃基板码垛机械手位置的迭代学习跟踪控制

码垛机械手在玻璃基板生产过程中发挥着至关重要的作用。针对玻璃基板码垛机械手码垛过程具有较强重复性的特点，提出迭代学习的码垛机械手位置跟踪控制方法。考虑到运行过程中出现的非重复性干扰设计了鲁棒迭代学习控制器。同时采用Lyapunov函数分析了码垛机械手的收敛性。理论结果表明，鲁棒迭代学习控制算法可以保证码垛机械手的位置跟踪误差收敛到0。仿真结果表明，所提出的鲁棒迭代学习控制算法，较好地抑制了非重复扰动的影响，有效提高码垛机械手的位置跟踪性能，经过20次的迭代，控制精度能达到0．01mm。在实验测试中，相邻两个玻璃基板间的码垛误差最大不超过0．1mm，取得了良好的控制效果。

Iterative learning tracking control for glass substrate palletizing manipulator position

Palletizing manipulator plays a vital role in the production process of glass substrate. Aiming at the strong characteristic of repeatability for the palletizing process of glass substrate palletizing manipulator, the palletizing ma- nipulator position tracking control method was proposed based on iterative learning control. Considering the non-re- petitive disturbances robust iterative learning controller was devised. And the Lyapunov function was used to ana- lyze the convergence of palletizing manipulator. The theoretical analysis results showed that, robust iterative learning control algorithm guaranteed the position tracking error of palletizing manipulator converges to zero. The simulation results also illustrated the validity of non-repetitive disturbances attenuation, and the better tracking performance was obtained, the control precision could reach 0. 01 mm after 20 iterations. The experiment result demonstrates that the stacking error between adjacent glass substrate is less than 0.1 mm, and achieves a better control quality.