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A Model Based Iterative Learning Control Method Applied to 3 Axes of a Commercial Industrial Robot
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.
2000 (English)In: Proceedings of the 6th IFAC Symposium on Robot Control, 2000Conference paper, Published paper (Refereed)
Abstract [en]

A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.

Place, publisher, year, edition, pages
2000.
Keyword [en]
Iterative learning control, Industrial robot, Model based design
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29603Local ID: 14981ISBN: 978-0080435619 (print)OAI: oai:DiVA.org:liu-29603DiVA: diva2:250420
Conference
6th IFAC Symposium on Robot Control, Vienna, Austria, 21 - 23 September, 2000
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2014-12-11Bibliographically approved

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Norrlöf, MikaelGunnarsson, Svante

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf