Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
1997 (English)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 1997. , 6 p.
LiTH-ISY-R, ISSN 1400-3902 ; 1956
Robotics, Iterative Learning Control, Friction, Disturbance signals
Maskinelement Servomekanismer Automation
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-55391ISRN: LiTH-ISY-R-1956OAI: oai:DiVA.org:liu-55391DiVA: diva2:315989