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Arm-Side Evaluation of ILC Applied to a Six-Degrees-of-Freedom 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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, , 13450-13455 p.13450-13455 p.Conference paper, Published paper (Refereed)
Abstract [en]

Experimental results from a first-order ILC algorithm applied to a large-size sixdegrees-of-freedom commercial industrial robot are presented. The ILC algorithm is based on measurements of the motor angles, but in addition to the conventional evaluation of the ILC algorithm based on the motor-side error, the tool-path error on the arm side is evaluated using a laser-measurement system. Experiments have been carried out in three operating points using movements that represent typical paths in a laser-cutting application and different choices of algorithm design parameters have been studied. The motor-angle error is reduced substantially in all experiments and the tool-path error is reduced in most of the cases. In one operating point, however, the error does not decrease as much and an oscillatory tool behaviour is observed. Changed filter variables can give worse error reduction in all operating points. To achieve even better performance, especially in difficult operating points, it is concluded that an arm-side measurement, from for example an accelerometer, needs to be included in the learning.

Place, publisher, year, edition, pages
2008. , 13450-13455 p.13450-13455 p.
Keyword [en]
Iterative methods, Learning control, Control applications, Industrial robots, Position control
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-43202DOI: 10.3182/20080706-5-KR-1001.02278Local ID: 72900ISBN: 978-3-902661-00-5 (print)OAI: oai:DiVA.org:liu-43202DiVA: diva2:264061
Conference
17th IFAC World Congress, Seoul, South Korea, July, 2008
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-23

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Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • Other style
More styles
Language
  • de-DE
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  • sv-SE
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Output format
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