Title :
Iterative learning control of a flexible robot arm using accelerometers
Author :
Gunnarsson, Svante ; Norrlöf, Mikael ; Rahic, Enes ; Ozbek, M.
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Sweden
Abstract :
Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint flexibility. The ILC algorithm uses an estimate of the arm angle, where the estimate is formed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is based on a model obtained from system identification. The ILC algorithm is evaluated experimentally on the robot arm with good results.
Keywords :
accelerometers; adaptive control; iterative methods; learning systems; manipulators; accelerometers; arm angular acceleration; flexible robot arm; iterative learning control; laboratory scale robot arm; motor angle; Acceleration; Accelerometers; Actuators; Control systems; Frequency estimation; Iterative algorithms; Mechanical systems; Resonance; Robot control; Signal generators;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387503
