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Journal of Systems Engineering and Electronics Vol. 21, No. 1, February 2010, pp.72–80 Available online at Adaptive iterative learning control of robot manipulators in the presence of environmental constraint Zhenhua Qin and Xiongxiong He College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023,P. R. China Abstract: A novel adaptive iterative learning algorithm is pro- If the dynamics are exactly known for the control of a pos