Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
699971 | Control Engineering Practice | 2014 | 9 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Johanna Wallén Axehill, Isolde Dressler, Svante Gunnarsson, Anders Robertsson, Mikael Norrlöf,