A method for correcting track errors generated during iterative learning of an
industrial robot comprises the following steps that firstly, a specific controlled object is determined, an
electric current loop or a speed
closed loop is adopted as the controlled object, and optimizing and setting of
control parameters are carried out on a whole control loop; and secondly, according to the formula (please see the specification), the
learning gain phi is changed, the position of the starting point of a N(z)
Nyquist curve and the amplitude of the curve are adjusted, introduced offline lead compensation factors enable the N(z)
Nyquist curve to achieve translation, more curves fall into a unit circle, gamma=1,2,3...n, and in the formula, q is the feedback
gain, and gamma is the number of samplingperiods. According to the method, the design of a
robot iterative
learning controller is provided according to the characteristic that the
industrial robot operates on the same track multiple times,the
robot has the
self correction capacity, the experience in the previous operating track process is gained to guide operating of subsequent tracks, the more the
robot operates, the higher the accuracy is, following errors are reduced greatly, and the accuracy of track operating is improved.