Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
2003 (English)In: Proceedings of Mekatronikmöte 2003, 2003Conference paper (Other academic)
Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint flexibility. 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 identification. The ILC algorithm is evaluated experimentally on the robot arm with good results.
Place, publisher, year, edition, pages
Iterative learning control, Joint flexibility, Accelerometer
National CategoryEngineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29588Local ID: 14966OAI: oai:DiVA.org:liu-29588DiVA: diva2:250405
Mekatronikmöte 2003, Göteborg, Sweden, August, 2003