On the Use of Learning Control for Improved Performance in Robot Control Systems
1997 (English)In: Proceedings of the 1997 European Control Conference, 1997Conference paper (Refereed)
Iterative learning control applied to a simplified model of a robot arm is studied. The iterative learning control input signal is used in combination with conventional feed-back and feed-forward control, and the aim is to let the learning control signal handle the effects of unmodeled dynamics and friction. Convergence and robustness aspects of the choice of filters in the updating scheme of the iterative learning control signal are studied.
Place, publisher, year, edition, pages
Iterative Learning Control, Robotics, Adaptive
IdentifiersURN: urn:nbn:se:liu:diva-29612Local ID: 14991OAI: oai:DiVA.org:liu-29612DiVA: diva2:250429
1997 European Control Conference, Brussels, Belgium, July, 1997