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本文针对工业机器人常应用于重复作业场合，提出了改进的迭代学习算法－PD学习算法，并讨论了学习因子的优化选取方法，仿真结果表明：该控制方法应用于机器人二维轨迹控制场合简单易行，效果理想。
This paper presents an improved iterative learning algorithm-PD learning algorithm, which is often applied to repetitive jobs in industrial robots. The optimization selection method of learning factors is also discussed. The simulation results show that this control method is simple and easy to apply to robot two-dimensional trajectory control OK, the effect is ideal.