| 1. |
- Andersson, Magnus, et al.
(författare)
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A Simulation and Animation Tool for Studying Multivariable Control
- 2002
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Ingår i: Proceedings of the 15th IFAC World Congress. - 9783902661746 ; , s. 1432-1432
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Konferensbidrag (refereegranskat)abstract
- A simulation and animation tool for education in multivariable control is presented. The purpose of the tool is to support studies of various aspects of multivariable dynamical systems and design of multivariable feedback control systems. Different ways to use this kind of tool in control education are also presented and discussed.
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| 2. |
- Axelsson, Patrik, 1985-, et al.
(författare)
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Tool Position Estimation of a Flexible Industrial Robot using Recursive Bayesian Methods
- 2012
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Ingår i: Proceedings of the 2012 IEEE International Conference on Robotics and Automation. - 9781467314039 - 9781467314046 ; , s. 5234-5239
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Konferensbidrag (refereegranskat)abstract
- A sensor fusion method for state estimation of a flexible industrial robot is presented. By measuring the acceleration at the end-effector, the accuracy of the arm angular position is improved significantly when these measurements are fused with motor angle observation. The problem is formulated in a Bayesian estimation framework and two solutions are proposed; one using the extended Kalman filter (EKF) and one using the particle filter (PF). The technique is verified on experiments on the ABB IRB4600 robot, where the accelerometer method is showing a significant better dynamic performance, even when model errors are present.
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| 3. |
- Björkman, Mattias, et al.
(författare)
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A New Concept for Motion Control of Industrial Robots
- 2008
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Ingår i: Proceedings of the 17th IFAC World Congress. - Linköping : Linköping University Electronic Press. - 9783902661005
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Konferensbidrag (refereegranskat)abstract
- This paper gives a short summary of an industrial development work on model-based motion control. This development has resultet in high robot motion performance simultaneously with an efficient use of the installed drive system of the robot.
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| 4. |
- Enqvist, Martin, 1976-, et al.
(författare)
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The CDIO Initiative from an Automatic Control Project Course Perspective
- 2005
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Ingår i: Proceedings of the 16th IFAC World Congress. - 9783902661753 ; , s. 2283-2283
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Konferensbidrag (refereegranskat)abstract
- The CDIO (Conceive Design Implement Operate) Initiative is explained, and some of the results at the Applied Physics and Electrical Engineering program at Linköping University, Sweden, are presented. A project course in Automatic Control is used as an example. The projects within the course are carried out using the LIPS (Linköping interactive project steering) model. An example of a project, the golf playing industrial robot, and the results from this project are also covered.
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| 5. |
- Fujimori, Atsushi, et al.
(författare)
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A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory
- 2005
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Ingår i: Proceedings of the 16th IFAC World Congress. - 9783902661753 ; , s. 609-609
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Konferensbidrag (refereegranskat)abstract
- This paper presents a gain scheduling control of a nonlinear system in which the reference trajectory is given in advance. Multiple frozen operating times are chosen on the reference trajectory and a linear time invariant model is obtained at each operating time. A linear parameter varying model is then constructed by interpolating the region between the neighbor frozen operating times. A gain scheduling state feedback law is designed by a linear matrix inequality formulation. The effectiveness is demonstrated in a numerical simulation of a traing control of a two-link robot arm.
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| 6. |
- Gunnarsson, Svante, et al.
(författare)
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A Model Based Iterative Learning Control Method Applied to an Industrial Robot
- 1999
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Ingår i: Proceedings of the Second Conference on Computer Science and Systems Engineering. - Linköping : Linköping University Electronic Press.
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- A synthesis algorithm for the filters in a first order ILC is presented and applied on an industrial robot. The proposed ILC synthesis method is evaluated using two experiments on the robot. The first is a one-axis experiment where the system can be seen as a single servo. A modeling experiment is done to give input to the synthesis algorithm and then ILC is applied to the single axis showing a dramatic improvement in trajectory following. In the second experiment ILC is applied to a more complex multi axes motion where the robot draws a circle in a plane. The evaluation of the result is done using a pen mounted on the robot and it is evident that also on the arm-side an improved motion can be achieved. In both experiments the error converges to a stable level in about 5 iterations. Since a model is desired for the synthesis, an extra iteration has to be done for the modeling experiment. In this particular case a good path following can therefore be achieved after 6 iterations.
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| 7. |
- Gunnarsson, Svante, et al.
(författare)
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Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
- 2003
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Ingår i: Proceedings of Mekatronikmöte 2003. - Linköping : Linköping University Electronic Press.
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- 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.
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| 8. |
- Gunnarsson, Svante, et al.
(författare)
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Iterative Learning Control of a Flexible Robot Arm Using Accelerometers
- 2004
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Ingår i: Proceedings of the 2004 IEEE Conference on Control Applications. - 0780386337 ; , s. 1012-1016 vol.2
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Konferensbidrag (refereegranskat)abstract
- Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint exibility. 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 identication. The ILC algorithm is evaluated experimentally on the robot arm with good results.
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| 9. |
- Gunnarsson, Svante, et al.
(författare)
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On the Design of ILC Algorithms using Optimization
- 2001
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Ingår i: Automatica. - : Elsevier. - 0005-1098 .- 1873-2836. ; 37:12, s. 2011-2016
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Tidskriftsartikel (refereegranskat)abstract
- Iterative learning control (ILC) based on minimization of a quadratic criterion in the control error and the input signal is considered. The focus is on the frequency domain properties of the algorithm, and how it is able to handle non-minimum phase systems. Experiments carried out on a commercial industrial robot are also presented.
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| 10. |
- Gunnarsson, Svante, et al.
(författare)
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On the Disturbance Properties of High Order Iterative Learning Control Algorithms
- 2006
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Ingår i: Automatica. - : Elsevier BV. - 0005-1098 .- 1873-2836. ; 42:11, s. 2031-2034
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Tidskriftsartikel (refereegranskat)abstract
- The disturbance properties of high order iterative learning control (ILC) algorithms are considered. An error equation is formulated, and using statistical models of the load and measurement disturbances an equation for the covariance matrix of the control error vector is derived. The results are exemplified by analytic derivation of the covariance matrix for a second order ILC algorithm.
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