ILC Applied to a Flexible Two-Link Robot Model using Sensor-Fusion-Based Estimates
2009 (English)In: Proceedings of 48th IEEE Conference on Decision and Control, IEEE , 2009, 458-463 p.Conference paper (Refereed)
Estimates from an extended Kalman filter (EKF) is used in an Iterative Learning Control (ILC) algorithm applied to a realistic two-link robot model with flexible joints. The angles seen from the arm side of the joints (arm angles) are estimated by an EKF in two ways: 1) using measurements of angles seen from the motor side of the joints (motor angles), which normally are the only measurements available in commercial industrial robot systems, 2) using both motor- angle and tool-acceleration measurements. The estimates are then used in an ILC algorithm. The results show that the actual arm angles are clearly improved compared to when only motor angles are used in the ILC update, even though model errors are introduced.
Place, publisher, year, edition, pages
IEEE , 2009. 458-463 p.
, I E E E Conference on Decision and Control, Including the Symposium on Adaptive Processes. Proceedings, ISSN 0191-2216
Iterative learning control, MIMO robot model, Estimate
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-53462DOI: 10.1109/CDC.2009.5400864ISBN: 978-1-4244-3872-3ISBN: 978-1-4244-3871-6OAI: oai:DiVA.org:liu-53462DiVA: diva2:289014
48th IEEE Conference on Decision and Control, Shanghai, China, December, 2009