@inproceedings{e671e67b8ccd4ab1bea06ebfff0d35e7,
title = "Plug in repetitive control for industrial robotic manipulators",
abstract = "The implementation of plug-in repetitive control on the direct drive axis of a prototype GMF A500 robot is considered. Plug-in repetitive control was developed and implemented using an IBM AT. A multirate sampling algorithm was designed to reduce the memory requirements of repetitive control. A microcontroller board based on the Intel 8096 was designed so that plug-in repetitive control could be applied from a small unit embedded within the KAREL controller. In each application, experimental results show that the tracking error is smoothly absorbed in a few cycles.",
author = "C. Cosner and G. Anwar and M. Tomizuka",
year = "1990",
month = dec,
day = "1",
language = "English (US)",
isbn = "0818620617",
series = "Proc 1990 IEEE Int Conf Rob Autom",
publisher = "Publ by IEEE",
pages = "1970--1975",
booktitle = "Proc 1990 IEEE Int Conf Rob Autom",
note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",
}