The study on optimization design and iterative learning trajectory tracking control of hybrid-driven planar five-bar mechanism is carried out.Firstly

genetic algorithm is applied to optimization design of the hybrid-driven planar five-bar mechanism parameters and minimize the accelerate fluctuation of the serve-motor for the optimized object.Then

gain coefficient variable D-type and closed loop PD-type iterative learning trajectory tracking control of the hybrid-driven planar five-bar mechanism are researched.Finally

as an example

numerical simulation of trajectory tracking control of hybrid-driven planar five-bar mechanism is demonstrated.The results indicate that the hybrid-driven planar five-bar mechanism can accurately track desired path and the performance of closed loop PD-type iterative learning control is better than gain coefficient variable D-type.