Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot
Författare
Summary, 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.
Avdelning/ar
Publiceringsår
2011
Språk
Engelska
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Nyckelord
- Identification and control methods
- Sensor and data fusion
- Robots manipulators
Conference name
18th IFAC World Congress, 2011
Conference date
2011-08-28 - 2011-09-02
Conference place
Milan, Italy
Status
Published
Forskningsgrupp
- LCCC