Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
2003 (English)Report (Other academic)
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. , 8 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2524
Iterative learing control, Joint flexibility, Accelerometer
National CategoryControl Engineering
IdentifiersURN: urn:nbn:se:liu:diva-55948ISRN: LiTH-ISY-R-2524OAI: oai:DiVA.org:liu-55948DiVA: diva2:316793