• DocumentCode
    3663784
  • Title

    Application of iterative learning control methods for a service robot with multi-body kinematics

  • Author

    Sandra Baßler;Peter Dünow;Mathias Marquardt;Andreas Daasch

  • Author_Institution
    Hochschule Wismar, University of Technology, Business and Design, Germany
  • fYear
    2015
  • Firstpage
    465
  • Lastpage
    470
  • Abstract
    This paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.
  • Keywords
    "Joints","Mathematical model","Computational modeling","Trajectory","Torque control","Mobile robots"
  • Publisher
    ieee
  • Conference_Titel
    Methods and Models in Automation and Robotics (MMAR), 2015 20th International Conference on
  • Type

    conf

  • DOI
    10.1109/MMAR.2015.7283920
  • Filename
    7283920
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3663784