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Observer-based ILC ...
Observer-based ILC Applied to the Gantry-Tau Parallel Kinematic Robot
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- Wallén, Johanna (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Dressler, Isolde (author)
- Lund University, Sweden
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- Robertsson, Anders (author)
- Lund University, Sweden
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- Norrlöf, Mikael, 1971- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Gunnarsson, Svante (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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(creator_code:org_t)
- IFAC, 2011
- 2011
- English.
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In: Proceedings of the 18th IFAC World Congress. - : IFAC. - 9783902661937 ; , s. 992-998
- Related links:
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https://urn.kb.se/re...
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https://doi.org/10.3...
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Abstract
Subject headings
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- 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.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Iterative methods
- Learning control
- Parallel
- Robotic manipulators
- Estimation algorithms
- Performance evaluation
- Automatic control
- Reglerteknik
Publication and Content Type
- ref (subject category)
- kon (subject category)
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