liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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
Arm-Side Evaluation of ILC Applied to a Six-Degrees-of-Freedom 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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2007 (English)Report (Other academic)
Abstract [en]

Experimental results from a first-order ILC algorithm applied to a large-size sixdegrees-of-freedom commercial industrial robot are presented. The ILC algorithm is based on measurements of the motor angles, but in addition to the conventional evaluation of the ILC algorithm based on the motor-side error, the tool-path error on the arm side is evaluated using a laser-measurement system. Experiments have been carried out in three operating points using movements that represent typical paths in a laser-cutting application and different choices of algorithm design parameters have been studied. The motor-angle error is reduced substantially in all experiments and the tool-path error is reduced in most of the cases. In one operating point, however, the error does not decrease as much and an oscillatory tool behaviour is observed. Changed filter variables can give worse error reduction in all operating points. To achieve even better performance, especially in difficult operating points, it is concluded that an arm-side measurement, from for example an accelerometer, needs to be included in the learning.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2007. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2832
Keyword [en]
terative methods, Learning control, Control applications, Industrial robots, Position control
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56152ISRN: LiTH-ISY-R-2832OAI: oai:DiVA.org:liu-56152DiVA: diva2:316948
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

Open Access in DiVA

fulltext(614 kB)125 downloads
File information
File name FULLTEXT01.pdfFile size 614 kBChecksum SHA-512
89d1ddf6d57d373f1133f736f4b4efc74358d468a6910daaf90df6275564cb7fe9eea2fd87b54dde22514acf28c540cd0e2e710f5c6ed0a6e04556ce0d7f7a3a
Type fulltextMimetype application/pdf

Authority records BETA

Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante

Search in DiVA

By author/editor
Wallén, JohannaNorrlöf, MikaelGunnarsson, Svante
By organisation
Automatic ControlThe Institute of Technology
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 125 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 224 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • 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