Title :
Application of iterative learning control methods for a service robot with multi-body kinematics
Author :
Sandra Baßler;Peter Dünow;Mathias Marquardt;Andreas Daasch
Author_Institution :
Hochschule Wismar, University of Technology, Business and Design, Germany
Abstract :
This paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.
Keywords :
"Joints","Mathematical model","Computational modeling","Trajectory","Torque control","Mobile robots"
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
DOI :
10.1109/MMAR.2015.7283920
