Title :
Iterative learning explicit hybrid force/velocity control for contour tracking
Author :
Ziliani, Giacomo ; Visioli, Antonio ; Legnani, Giovanni
Author_Institution :
Inst. of Ind. Technol. & Autom, Milan
Abstract :
In this paper we propose an Iterative Learning Control (ILC) algorithm for the contour tracking of unknown planar objects performed by an industrial SCARA robot manipulator with an explicit hybrid force/velocity controller. Conversely to the typical applications of ILC, the employed control law does not include a time-based reference position signal (and a position control loop) and therefore a different approach has been developed in order to exploit the repetitive nature of the task. Design choices are described in this context and experimental results show the effectiveness of the technique.
Keywords :
adaptive control; control system synthesis; edge detection; force control; industrial manipulators; iterative methods; learning systems; tracking; velocity control; design paramaters; industrial SCARA robot manipulator; iterative learning explicit hybrid force-velocity control; unknown planar object contour tracking; Control systems; Force control; Force measurement; Industrial control; Manipulators; Motion control; Position control; Robot control; Service robots; Velocity control;
Conference_Titel :
Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on
Conference_Location :
Zurich
Print_ISBN :
978-1-4244-1263-1
Electronic_ISBN :
978-1-4244-1264-8
DOI :
10.1109/AIM.2007.4412551