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Estimation-based ILC applied to a parallel kinematic robot

Wallén Axehill, Johanna; Dressler, Isolde LU ; Gunnarsson, Svante; Robertsson, Anders LU and Norrlöf, Mikael (2014) In Control Engineering Practice 33. p.1-9
Abstract
Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter. (C) 2014... (More)
Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter. (C) 2014 Elsevier Ltd. All rights reserved. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Iterative methods, Learning control, Robotic manipulator, Estimation algorithm, Performance evaluation
in
Control Engineering Practice
volume
33
pages
1 - 9
publisher
Elsevier
external identifiers
  • wos:000345728700001
  • scopus:84910086727
ISSN
0967-0661
DOI
10.1016/j.conengprac.2014.08.008
project
LCCC
language
English
LU publication?
yes
id
65ce52ea-9815-4766-8ca7-f69f9874dab8 (old id 4962651)
date added to LUP
2016-03-29 10:32:43
date last changed
2017-10-22 03:09:48
@article{65ce52ea-9815-4766-8ca7-f69f9874dab8,
  abstract     = {Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter. (C) 2014 Elsevier Ltd. All rights reserved.},
  author       = {Wallén Axehill, Johanna and Dressler, Isolde and Gunnarsson, Svante and Robertsson, Anders and Norrlöf, Mikael},
  issn         = {0967-0661},
  keyword      = {Iterative methods,Learning control,Robotic manipulator,Estimation algorithm,Performance evaluation},
  language     = {eng},
  pages        = {1--9},
  publisher    = {Elsevier},
  series       = {Control Engineering Practice},
  title        = {Estimation-based ILC applied to a parallel kinematic robot},
  url          = {http://dx.doi.org/10.1016/j.conengprac.2014.08.008},
  volume       = {33},
  year         = {2014},
}