The control of robot manipulators has been an important research subject due to their frequent use in many fields. Meanwhile, learning controllers are widely employed for industrial robots to enable precision control. This paper considers the implementation of Derivative type Iterative Learning Controller (D-type ILC) for trajectory tracking of a two-link robot arm model. The nonlinear mathematical model of the robot is first linearized before applying the ILC controller to the robot system. The controller system is implemented using MATLAB. The results obtained illustrated the efficiency of the proposed controller and are compared to the results of a Proportional-Integral-Derivative (PID) controller.
Keywords: Iterative Learning Control, Two Link Robot Arm, Nonlinear Dynamic Model