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Iterative Feedback Tuning Applied to Robot Joint Controllers
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Université Catholique de Louvain, Belgium.
Université Catholique de Louvain, Belgium.
1998 (English)Report (Other academic)
Abstract [en]

Tuning of robot joint controllers using iterative feedback tuning (IFT) is considered. Using a simulation model of a two-link robot arm the applicability of IFT is investigated for a nonlinear and multivariable system. Due to the strong crosscoupling between the two links a decoupling controller is needed in order to obtain satisfactory results. An approach for obtaining a decoupling controller is investigated. It is also shown how IFT can be used to tune the controller parameters for a particular trajectory of the arm.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 1998. , 7 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2087
Keyword [en]
Iterative methods, Robotic manipulators, Decoupling, Multivariable, Nonlinear
Keyword [sv]
Maskinelement Servomekanismer Automation, Cybernetik Informationsteori
National Category
Control Engineering
URN: urn:nbn:se:liu:diva-55662ISRN: LiTH-ISY-R-2087OAI: diva2:316411
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-09-18Bibliographically approved

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Gunnarsson, Svante
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Automatic ControlThe Institute of Technology
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ReferencesLink to record
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