Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2203135
- author
- Wallén, Johanna ; Dressler, Isolde LU ; Robertsson, Anders LU ; Norrlöf, Mikael and Gunnarsson, Svante
- organization
- publishing date
- 2011
- 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
- conference location
- Milan, Italy
- conference dates
- 2011-08-28 - 2011-09-02
- external identifiers
-
- scopus:84866756624
- language
- English
- LU publication?
- yes
- additional info
- key=wal+dre11
- id
- b364dbed-b444-4036-a9de-542e5d13975d (old id 2203135)
- date added to LUP
- 2016-04-04 12:55:53
- date last changed
- 2024-02-12 03:32:06
@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}}, keywords = {{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}}, }