2005 · 21 citations · 11 references
EngineeringMechatronics EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsDynamic ControlFlexible Robot DynamicsManipulator ControlMotion ControlRobot ManipulatorsControl System IdentificationFlexibilityIterative Learning ControlJoint Flexibility ModelingLearning-based Control
Iterative learning control (ILC) is applied to a laboratory scale robot arm with joint flexibility. The ILC algorithm uses an estimate of the arm angle, where the estimate is formed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is based on a model obtained from system identification. The ILC algorithm is evaluated experimentally on the robot arm with good results.
11
On the design of ILC algorithms using optimization
Svante Gunnarsson, Mikael Norrlöf · Automatica · 2001 · 292 citations · Full text
Natural Sciences, Computer Engineering, Computer Science +10
Learning control scheme for a class of robot systems with elasticity
F. Miyazaki, S. Kawamura, Masashi MATSUMORI et al. · 1986 · 32 citations
Engineering, Mechanical Engineering, Robotics Engineering +14