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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.
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.
2003 (English)In: Proceedings of Mekatronikmöte 2003, 2003Conference paper, Published paper (Other academic)
Abstract [en]

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
2003.
Keyword [en]
Iterative learning control, Joint flexibility, Accelerometer
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29588Local ID: 14966OAI: oai:DiVA.org:liu-29588DiVA: diva2:250405
Conference
Mekatronikmöte 2003, Göteborg, Sweden, August, 2003
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-04-02

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Gunnarsson, SvanteNorrlöf, Mikael

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