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A Model Based Itera...
A Model Based Iterative Learning Control Method Applied to an Industrial Robot
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- Norrlöf, Mikael, 1971- (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gunnarsson, Svante (författare)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- 2000
- 2000
- Engelska.
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Ingår i: Proceedings of Reglermöte 2000. ; , s. 73-78
- Relaterad länk:
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http://urn.kb.se/res...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- ILC
- Design
- Robot application
- TECHNOLOGY
- TEKNIKVETENSKAP
Publikations- och innehållstyp
- vet (ämneskategori)
- kon (ämneskategori)