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Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot: Modelling, Design and Experiments
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.
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2010 (English)Report (Other academic)
Abstract [en]

Three different approaches of iterative learning control (ILC) applied to a parallel kinematic robot are studied. First, the ILC algorithm is based on measured motor angles only. Second, tool-position estimates are used in the ILC algorithm. For evaluation, the ILC algorithm finally is based on measured tool position. Model-based tuning of the ILC filters enables learning above the resonance frequencies of the system. The approaches are compared experimentally on a Gantry-Tau prototype, with the tool performance being evaluated by using external sensors. It is concluded that the tool performance can be improved by using tool-position estimates in the ILC algorithm, compared to when using motor-angle measurements. In the paper applying ILC algorithms to a system following trajectories with so-called lead-in/lead-out is also considered, as well as dynamic modelling of the Gantry-Tau prototype.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 21 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2968
Keyword [en]
Iterative methods, Learning control, Parallel, Robotic manipulators, Estimation algorithms, Performance evaluation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97735ISRN: LiTH-ISY-R-2968OAI: oai:DiVA.org:liu-97735DiVA: diva2:650644
Funder
Vinnova
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-09-22Bibliographically approved

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Norrlöf, MikaelGunnarsson, Svante

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
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  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
  • rtf