Visual feedback arm robot based on iterative learning control using repetitive control optimization

Author

Wenai, Siriwat ; Panomruttanarug, Benjamas ; Tangamchit, Poj

Author_Institution

Dept. of Control Syst. & Instrum. Eng., King Mongkut´´s Univ. of Technol. Thonburi, Bangkok, Thailand

fYear

2009

fDate

6-9 May 2009

Firstpage

358

Lastpage

361

Abstract

This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from the two hardware devices: encoder and Webcam. Performance of robot using the two types of feedback signal is discussed in detail. Simple learning control law is first applied to the system and a more complicated control law designed from optimization in the similar field is later used.

Keywords

adaptive control; feedback; image coding; iterative methods; learning systems; manipulators; optimisation; robot vision; Webcam; convergence; encoder; iterative learning control; repetitive control optimization; visual feedback arm robot; Control systems; Design optimization; Error correction; Feedback control; Hardware; Instruments; Service robots; Servomechanisms; Servosystems; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, 2009. ECTI-CON 2009. 6th International Conference on

Conference_Location

Pattaya, Chonburi

Print_ISBN

978-1-4244-3387-2

Electronic_ISBN

978-1-4244-3388-9

Type

conf

DOI

10.1109/ECTICON.2009.5137026

Filename

5137026