DocumentCode
2452502
Title
Iterative learning control of a flexible robot arm using accelerometers
Author
Gunnarsson, Svante ; Norrlöf, Mikael ; Rahic, Enes ; Ozbek, M.
Author_Institution
Dept. of Electr. Eng., Linkoping Univ., Sweden
Volume
2
fYear
2004
fDate
2-4 Sept. 2004
Firstpage
1012
Abstract
Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint flexibility. The ILC algorithm uses 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.
Keywords
accelerometers; adaptive control; iterative methods; learning systems; manipulators; accelerometers; arm angular acceleration; flexible robot arm; iterative learning control; laboratory scale robot arm; motor angle; Acceleration; Accelerometers; Actuators; Control systems; Frequency estimation; Iterative algorithms; Mechanical systems; Resonance; Robot control; Signal generators;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN
0-7803-8633-7
Type
conf
DOI
10.1109/CCA.2004.1387503
Filename
1387503
Link To Document