Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

In English Three approaches of iterative learning control (ILC) applied to a Gantry-Tau parallel kinematic robot aC algorithms using 1) measured motor angles, 2) tool-position estimates, and for evaluation purposes, 3l position. The approaches are compared experimentally, with the tool performance evaluated using extert is concluded that the tool performance can be improved using tool-position estimates in the ILC algor to when using motor-angle measurements. Applying ILC algorithms to a system following trajectories witad-in/lead-out is also considered in the paper.