Estimation-based ILC applied to a parallel kinematic robot

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Estimation-based ILC applied to a parallel kinematic robot. / Wallén Axehill, Johanna; Dressler, Isolde; Gunnarsson, Svante; Robertsson, Anders; Norrlöf, Mikael.

I: Control Engineering Practice, Vol. 33, 2014, s. 1-9.

Forskningsoutput: TidskriftsbidragArtikel i vetenskaplig tidskrift

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Wallén Axehill, Johanna ; Dressler, Isolde ; Gunnarsson, Svante ; Robertsson, Anders ; Norrlöf, Mikael. / Estimation-based ILC applied to a parallel kinematic robot. I: Control Engineering Practice. 2014 ; Vol. 33. s. 1-9.

RIS

TY - JOUR

T1 - Estimation-based ILC applied to a parallel kinematic robot

AU - Wallén Axehill, Johanna

AU - Dressler, Isolde

AU - Gunnarsson, Svante

AU - Robertsson, Anders

AU - Norrlöf, Mikael

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Iterative methods

KW - Learning control

KW - Robotic manipulator

KW - Estimation algorithm

KW - Performance evaluation

U2 - 10.1016/j.conengprac.2014.08.008

DO - 10.1016/j.conengprac.2014.08.008

M3 - Article

VL - 33

SP - 1

EP - 9

JO - Control Engineering Practice

JF - Control Engineering Practice

SN - 0967-0661

ER -