Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
1997 (English)In: Proceedings of the 5th IFAC Symposium on Robot Control, 1997, 379- p.Conference paper (Refereed)
Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feed-back and feed-forward control. The effects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simplified model of a robot arm. Convergence and robustness aspects of the choice of filters in the updating scheme of the learning control signal are studied.
Place, publisher, year, edition, pages
1997. 379- p.
Iterative Learning Control, Robotics, Friction, Disturbance signals
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-29610Local ID: 14989ISBN: 0080430260OAI: oai:DiVA.org:liu-29610DiVA: diva2:250427
5th IFAC Symposium on Robot Control, Nantes, France, September, 1997