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Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

Wallén, Johanna; Dressler, Isolde LU ; Robertsson, Anders LU ; Norrlöf, Mikael and Gunnarsson, Svante (2011) 18th IFAC World Congress, 2011
Abstract
Three approaches of iterative learning control (ILC) applied to a Gantry-Tau parallel kinematic robot aC algorithms using 1) measured motor angles, 2) tool-position estimates, and for evaluation purposes, 3l position. The approaches are compared experimentally, with the tool performance evaluated using extert is concluded that the tool performance can be improved using tool-position estimates in the ILC algor to when using motor-angle measurements. Applying ILC algorithms to a system following trajectories witad-in/lead-out is also considered in the paper.
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Identification and control methods, Sensor and data fusion, Robots manipulators
conference name
18th IFAC World Congress, 2011
external identifiers
  • scopus:84866756624
language
English
LU publication?
yes
id
b364dbed-b444-4036-a9de-542e5d13975d (old id 2203135)
date added to LUP
2011-11-08 09:49:47
date last changed
2017-01-01 08:09:14
@misc{b364dbed-b444-4036-a9de-542e5d13975d,
  abstract     = {Three approaches of iterative learning control (ILC) applied to a Gantry-Tau parallel kinematic robot aC algorithms using 1) measured motor angles, 2) tool-position estimates, and for evaluation purposes, 3l position. The approaches are compared experimentally, with the tool performance evaluated using extert is concluded that the tool performance can be improved using tool-position estimates in the ILC algor to when using motor-angle measurements. Applying ILC algorithms to a system following trajectories witad-in/lead-out is also considered in the paper.},
  author       = {Wallén, Johanna and Dressler, Isolde and Robertsson, Anders and Norrlöf, Mikael and Gunnarsson, Svante},
  keyword      = {Identification and control methods,Sensor and data fusion,Robots manipulators},
  language     = {eng},
  title        = {Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot},
  year         = {2011},
}