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本文为机器人机械手提出了一种基于离散时间的重复学习控制法，这种学习控制法利用机器人动力学模型的部分知识，从它的特性和实用观点看，这种控制法比现有的其它学习控制法更有吸引力．本文还给出了学习控制法的收敛性证明和计算机仿真结果．
In this paper, we propose a repetitive learning control method based on discrete time for robot manipulators. This learning control method uses the partial knowledge of robot kinematics model. From its characteristics and practical point of view, this control method is better than other existing learning methods Control method is more attractive. This paper also gives the proof of convergence of the learning control method and the computer simulation results.