AMNE:(ENGINEERING AND TECHNOLOGY) AMNE:(Electrical Engineering Electronic Engineering Information Engineering) AMNE:(Robotics)
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Some Experiences of the use of Iterative Learning Control for Performance Improvement in Robot Control Systems
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- Gunnarsson, Svante, 1959- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
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- Norrlöf, Mikael, 1971- (author)
- Linköpings universitet,Reglerteknik,Tekniska högskolan
- (creator_code:org_t)
- Linköping : Linköping University Electronic Press, 1997
- English 6 s.
- Series: LiTH-ISY-R, 1400-3902 ; 1956
- In: Proceedings of the 5th IFAC Symposium on Robot Control. - Linköping : Linköping University Electronic Press. - 0080430260 ; , s. 379-
- Reports (other academic/artistic)
Abstract
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- Some aspects of the use of learning control for improved performance in robot control systems are studied. The learning control signal is used in combination with conventional feed-back and feed-forward control. The effects of disturbances, unmodeled dynamics and friction are studied theoretically and in simulations of a simplified model of a robot arm. Convergence and robustness aspects of the choice of filters in the updating scheme of the learning control signal are studied.
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
- Robotics
- Iterative Learning Control
- Friction
- Disturbance signals
- Maskinelement Servomekanismer Automation
- Automatic control
- Reglerteknik
- TECHNOLOGY
Publication and Content Type
- vet (subject category)
- rap (subject category)
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