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ILC Applied to a Flexible Two-Link Robot Model using Sensor-Fusion-Based Estimates
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.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
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2009 (English)Report (Other academic)
Abstract [en]

Estimates from an extended Kalman filter (EKF) is used in an Iterative Learning Control (ILC) algorithm applied to a realistic two-link robot model with flexible joints. The angles seen from the arm side of the joints (arm angles) are estimated by an EKF in two ways: 1) using  measurements of angles seen from the motor side of the joints (motor angles), which normally  are the only measurements available in commercial industrial robot systems, 2) using both motor- angle and tool-acceleration measurements. The estimates are then used in an ILC algorithm. The results show that the actual arm angles are clearly improved compared to when only motor angles are used in the ILC update, even though model errors are introduced.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. , 9 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2880
Keyword [en]
Iterative learning control; Robotics; Sensor fusion
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56194ISRN: LiTH-ISY-R-2880OAI: oai:DiVA.org:liu-56194DiVA: diva2:316977
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-01Bibliographically approved

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Wallén, JohannaGunnarsson, SvanteMoberg, StigNorrlöf, Mikael

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Wallén, JohannaGunnarsson, SvanteMoberg, StigNorrlöf, Mikael
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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • de-DE
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Output format
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