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Estimation-based ILC applied to a parallel kinematic robot
Saab Aeronaut, SE-58188 Linkoping, Sweden.
Lund University, Sweden.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Lund University, Sweden.
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2014 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 33Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Elsevier , 2014. Vol. 33
Keyword [en]
Iterative methods; Learning control; Robotic manipulator; Estimation algorithm; Performance evaluation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-113180DOI: 10.1016/j.conengprac.2014.08.008ISI: 000345728700001OAI: oai:DiVA.org:liu-113180DiVA: diva2:780009
Note

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

Available from: 2015-01-13 Created: 2015-01-12 Last updated: 2017-12-05

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