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Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
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.ORCID iD: 0000-0002-2100-6378
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.
2003 (English)Report (Other academic)
Abstract [en]

Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint flexibility. The ILC algorithm is based on an estimate of the arm angle, where the estimate is formed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is based on a model obtained from system identification. The ILC algorithm is evaluated experimentally on the robot arm with good results.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , p. 8
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2524
Keywords [en]
Iterative learing control, Joint flexibility, Accelerometer
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55948ISRN: LiTH-ISY-R-2524OAI: oai:DiVA.org:liu-55948DiVA, id: diva2:316793
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2021-12-06Bibliographically approved

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fulltext(170 kB)441 downloads
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Gunnarsson, SvanteNorrlöf, Mikael

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Gunnarsson, SvanteNorrlöf, Mikael
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
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