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Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2004 (English)In: Proceedings of the 2004 IEEE Conference on Control Applications, 2004, 1012-1016 vol.2 p.Conference paper, Published paper (Refereed)
Abstract [en]

Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint exibility. The ILC algorithm is based on an estimate of the arm angle, where the estimate is formed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is based on a model obtained from system identication. The ILC algorithm is evaluated experimentally on the robot arm with good results.

Place, publisher, year, edition, pages
2004. 1012-1016 vol.2 p.
Keyword [en]
Iterative learning control, Joint flexibility, Accelerometer
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-22809DOI: 10.1109/CCA.2004.1387503Local ID: 2146ISBN: 0-7803-8633-7 (print)OAI: oai:DiVA.org:liu-22809DiVA: diva2:243122
Conference
2004 IEEE Conference on Control Applications, Taipei, Taiwan, September, 2004
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-03-28

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Gunnarsson, SvanteNorrlöf, Mikael

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