Title :
On the use of learning control for improved performance in robot control systems
Author :
Gunnarsson, S. ; Norrlof, M.
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Linköping, Sweden
Abstract :
Iterative learning control applied to a simplified model of a robot arm is studied. The iterative learning control input signal is used in combination with conventional feed-back and feed-forward control, and the aim is to let the learning control signal handle the effects of unmodeled dynamics and friction. Convergence and robustness aspects of the choice of filters in the updating scheme of the iterative learning control signal are studied.
Keywords :
feedback; feedforward; iterative learning control; robots; robust control; feedback control; feedforward control; iterative learning control; robot arm; robot control systems; robustness aspects; Control systems; Convergence; Friction; Mathematical model; Robots; Stability analysis; Transfer functions; Adaptive; Iterative Learning Control; Robotics;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
