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
Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Lund University, Sweden.
Lund University, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Show others and affiliations
2011 (English)In: Proceedings of the 18th IFAC World Congress, IFAC , 2011, 992-998 p.Conference paper, Published paper (Refereed)
Abstract [en]

Three approaches of iterative learning control (ILC) applied to a Gantry-Tau parallel kinematic robot are studied; ILC algorithms using 1) measured motor angles, 2) tool-position estimates, and for evaluation purposes, 3) measured tool position. The approaches are compared experimentally, with the tool performance evaluated using external sensors. It is concluded that the tool performance can be improved using tool-position estimates in the ILC algorithm, compared to when using motor-angle measurements. Applying ILC algorithms to a system following trajectories with so-called lead-in/lead-out is also considered in the paper.

Place, publisher, year, edition, pages
IFAC , 2011. 992-998 p.
Keyword [en]
Iterative methods, Learning control, Parallel, Robotic manipulators, Estimation algorithms, Performance evaluation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-95582DOI: 10.3182/20110828-6-IT-1002.02018ISBN: 978-3-902661-93-7 (print)OAI: oai:DiVA.org:liu-95582DiVA: diva2:636246
Conference
18th IFAC World Congress, Milano, Italy, 28 August-2 September, 2011
Available from: 2013-07-09 Created: 2013-07-09 Last updated: 2013-12-04

Open Access in DiVA

No full text

Other links

Publisher's full text

Authority records BETA

Norrlöf, MikaelGunnarsson, Svante

Search in DiVA

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

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 179 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