Title :
Implementation of a tracking learning controller for an industrial manipulator
Author :
Carozzi, A. ; Fioretti, A. ; Poloni, M. ; Nicolo, F. ; Ulivi, G.
Author_Institution :
Tecnospazio S.p.a., Milan, Italy
Abstract :
The paper describes the design and the implementation, of a learning controller for a series industrial manipulator SMART 6.12 from COMAU S.p.a. The controller iteratively improves the system performance along a repetitive trajectory by building the required off-line input processing the recorded error. It has been realized with minor additions to the existing controller, which remains fully operational. Experimental results demonstrate its effectiveness
Keywords :
control system synthesis; industrial manipulators; intelligent control; iterative methods; learning systems; manipulators; tracking; COMAU; SMART 6.12; industrial manipulator; iterative learning; repetitive trajectory; tracking learning controller; Brushless motors; Buildings; Communication system control; Error correction; Industrial control; Intelligent robots; Iterative algorithms; Robotic assembly; Service robots; Signal processing algorithms;
Conference_Titel :
Control Applications, 1993., Second IEEE Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1993.348350
