کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
700270 890846 2008 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Lifted system iterative learning control applied to an industrial robot
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
پیش نمایش صفحه اول مقاله
Lifted system iterative learning control applied to an industrial robot
چکیده انگلیسی

This paper proposes a model-based iterative learning control algorithm for time-varying systems with a high convergence speed. The convergence of components of the tracking error can be controlled individually with the algorithm. The convergence speed of each error component can be maximised unless robustness for noise or unmodelled dynamics is needed. The learning control algorithm is applied to the industrial Stäubli RX90 robot. A linear time-varying model of the robot dynamics is obtained by linearisation of the non-linear dynamic equations. Experiments show that the tracking error of the robot joints can be reduced to the desired level in a few iterations.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 16, Issue 4, April 2008, Pages 377–391
نویسندگان
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