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A Model Based Iterative Learning Control Method Applied to an 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.
1999 (English)Report (Other academic)
Abstract [en]

A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 1999. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2197
Keyword [en]
Iterative learning control, ILC, Robot control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55355ISRN: LiTH-ISY-R-2197OAI: oai:DiVA.org:liu-55355DiVA: diva2:316028
Available from: 2010-04-29 Created: 2010-04-29 Last updated: 2014-09-18Bibliographically approved

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Norrlöf, MikaelGunnarsson, Svante

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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Language
  • de-DE
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  • Other locale
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Output format
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