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On the Use of Accelerometers in Iterative Learning Control of a Flexible Robot Arm
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.
2007 (English)In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 80, no 3, 363-373 p.Article in journal (Refereed) Published
Abstract [en]

Iterative learning control (ILC) is applied to a robot arm with joint flexibility. The ILC algorithm uses an estimate of the arm angle, where the estimate is computed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is evaluated experimentally on a laboratory scale robot arm with good results.

Place, publisher, year, edition, pages
Taylor & Francis, 2007. Vol. 80, no 3, 363-373 p.
Keyword [en]
Iterative learning control, Robot arm, Estimation, Flexibility
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-49975DOI: 10.1080/00207170600996518OAI: oai:DiVA.org:liu-49975DiVA: diva2:270871
Available from: 2009-10-11 Created: 2009-10-11 Last updated: 2017-12-12

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Gunnarsson, SvanteNorrlöf, Mikael

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