..., inaccurate models and slow convergence in iterative learning algorithms and improve the accuracy and robustness of industrial robot trajectory tracking. Design/methodology/approach The ILC gain matrix is formulated using a two-dimensional Gaussian distribution ( GD ). A differential evolution gain...

...Hong-Xin Cui; Ke Feng; Huan-Liang Li; Jin-Hua Han Purpose To improve the trajectory tracking accuracy of 6R decoupled manipulator in singularity region, this paper aims to propose a singularity avoidance algorithm named “singularity separation plus improved Gaussian distribution damped reciprocal...