Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
2004 (English)In: Proceedings of the 2004 IEEE Conference on Control Applications, 2004, 1012-1016 vol.2 p.Conference paper (Refereed)
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.
Iterative learning control, Joint flexibility, Accelerometer
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-22809DOI: 10.1109/CCA.2004.1387503Local ID: 2146ISBN: 0-7803-8633-7OAI: oai:DiVA.org:liu-22809DiVA: diva2:243122
2004 IEEE Conference on Control Applications, Taipei, Taiwan, September, 2004