Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator

Author

Abdellatif, Houssem ; Heimann, Bodo

Author_Institution

Hannover Center of Mechatronics, Hannover Univ.

fYear

2006

fDate

3-5 July 2006

Firstpage

398

Lastpage

403

Abstract

Iterative learning control (ILC) is proposed in this paper for the enhancement of tracking accuracy of a parallel direct driven manipulator. It is shown by means of a simulation study and by experimental results, that linear ILC is appropriate for application to the considered high nonlinear and coupled system. For this purpose, it is necessary to map the dynamics of the closed-loop feedback controlled system. This is achieved in a first approach by the frequency response and in a second one by the difference equation of a linear time invariant plant. The results of both algorithms are discussed

Keywords

adaptive control; closed loop systems; feedback; frequency response; iterative methods; learning systems; linear systems; manipulator dynamics; nonlinear control systems; time-varying systems; closed-loop feedback controlled system; coupled system; direct driven spatial parallel manipulator; frequency response; linear iterative learning control; linear time invariant plant; nonlinear system; Adaptive control; Control systems; Convergence; Couplings; Manipulator dynamics; Mechatronics; Nonlinear dynamical systems; Parallel robots; Power engineering and energy; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, 2006 IEEE International Conference on

Conference_Location

Budapest

Print_ISBN

0-7803-9712-6

Electronic_ISBN

0-7803-9713-4

Type

conf

DOI

10.1109/ICMECH.2006.252560

Filename

4018395