Title :
Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator
Author :
Abdellatif, Houssem ; Heimann, Bodo
Author_Institution :
Hannover Center of Mechatronics, Hannover Univ.
Abstract :
Iterative learning control (ILC) is proposed in this paper for the enhancement of tracking accuracy of a parallel direct driven manipulator. It is shown by means of a simulation study and by experimental results, that linear ILC is appropriate for application to the considered high nonlinear and coupled system. For this purpose, it is necessary to map the dynamics of the closed-loop feedback controlled system. This is achieved in a first approach by the frequency response and in a second one by the difference equation of a linear time invariant plant. The results of both algorithms are discussed
Keywords :
adaptive control; closed loop systems; feedback; frequency response; iterative methods; learning systems; linear systems; manipulator dynamics; nonlinear control systems; time-varying systems; closed-loop feedback controlled system; coupled system; direct driven spatial parallel manipulator; frequency response; linear iterative learning control; linear time invariant plant; nonlinear system; Adaptive control; Control systems; Convergence; Couplings; Manipulator dynamics; Mechatronics; Nonlinear dynamical systems; Parallel robots; Power engineering and energy; Service robots;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252560
