Estimation-based ILC applied to a parallel kinematic robot
| Autor: | Johanna Wallén Axehill, Anders Robertsson, Mikael Norrlöf, Svante Gunnarsson, Isolde Dressler |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
Engineering
business.industry Iterative method Applied Mathematics Iterative learning control Parallel manipulator Robotics Kinematics Electrical Engineering Electronic Engineering Information Engineering Computer Science Applications Computer Science::Robotics Acceleration Control and Systems Engineering Position (vector) Control theory Iterative methods Learning control Robotic manipulator Estimation algorithm Performance evaluation Robot Artificial intelligence Electrical and Electronic Engineering business Elektroteknik och elektronik |
| Popis: | Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter. Funding Agencies|ELLIIT, Excellence Center at Linkoping - Lund in Information Technology; LCCC Linnaeus Center at Lund University; Vinnovas Industry Excellence Center LINK-SIC at Linkoping University |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|