Iterative learning control of a flexible robot arm using accelerometers [Elektronisk resurs] / Svante Gunnarsson, Mikael Norrlöf, Enes Rahic, Markus Özbek
Gunnarsson, Svante,1951-
Norrlöf, Mikael, 1971-
Alternativt namn: Norrlöf, Using iterative learning control to get better performance of robot control systems / Mikael Norrlöf,Svante Gunnarsson Place : Publisher,, 1971-
Rahic, Enes
Özbek, Markus
Linköping : Univ., 2003
Engelska 6 s.
Serie: LiTH-ISY-R, 1400-3902 ; 2524
Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
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.
Indexterm och SAB-rubrik
Iterative learing control Joint flexibility Accelerometer