Better robot tracking accuracy with phase lead compensated ILC

Author

Ye, Yongqiang ; Wang, Danwei

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4380

Abstract

In this paper, a learning control scheme is proposed to improve robot tracking accuracy. Through the analysis in frequency domain, it is shown that phase lead compensation can broad the learnable frequency band of a learning control system. The phase lead compensation is realized by phase lead filtering the error of last repetition. In theory a filter whose phase difference to the system is within ±90° can be a candidate for the phase lead compensation process. Experimental results on an industrial robot system show that the proposed scheme is both effective and robust against dynamic modeling errors.

Keywords

error compensation; filtering theory; frequency-domain analysis; industrial robots; learning (artificial intelligence); tracking; dynamic modeling errors; frequency band; frequency domain; industrial robot system; iterative learning control; phase lead compensation; phase lead filtering; robot tracking accuracy; robustness; Control systems; Electrical equipment industry; Error correction; Filtering; Filters; Frequency domain analysis; Laplace equations; Service robots; Torque control; Transfer functions;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242278

Filename

1242278