| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712568 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
In this paper Iterative Learning Control is used to improve the tracking accuracy of the end-effector of an industrial robot. The learning control algorithm is based on a straightforward robot model and an optimisation criterium. The algorithm is tested on an industrial robot, where the end-effector motion is measured relative to a weld seam using a seam tracking sensor based on optical triangulation. The experiments show that the tracking error can be reduced considerably in a few iterations.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
W.B.J. Hakvoort, R.G.K.M. Aarts, J. van Dijk, J.B. Jonker,