DocumentCode
3338837
Title
Iterative trajectory tracking for flexible arms with approximate models
Author
Poloni, M. ; Ulivi, G.
Author_Institution
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
fYear
1991
fDate
19-22 June 1991
Firstpage
108
Abstract
Learning control is applied to end-point trajectory tracking of a flexible robot link, performing repetitive tasks. The model of an experimental prototype is given and the main results from the frequency domain analysis of iterative learning controllers are recalled. Several possibilities of application of this methodology to flexible structures are presented and extensively tested by simulation. They differ for the level of detail of the link model which ranges from the exact model to a very rough approximation, which does not retain its nonminimum phase properties.<>
Keywords
frequency-domain analysis; learning systems; position control; robots; tracking; approximate models; end-point trajectory tracking; flexible arms; flexible structures; frequency domain analysis; iterative learning controllers; position control; repetitive tasks; Actuators; Arm; Flexible structures; Lighting control; Manipulators; Payloads; Prototypes; Robots; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240467
Filename
240467
Link To Document