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

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Author

  • Johanna Wallén
  • Isolde Dressler
  • Anders Robertsson
  • Mikael Norrlöf
  • Svante Gunnarsson

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.

Publishing year

2011

Language

English

Document type

Conference paper

Topic

  • Control Engineering

Keywords

  • 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

Research group

  • LCCC