Experimental evaluation of ILC applied to a six degrees-of-freedom industrial robot

2007 European Control Conference, ECC 2007

Volumn , Issue , 2007, Pages 4111-4118

  Wallen, Johanna ^a   Norrlof, Mikael ^a   Gunnarsson, Svante ^a  

^a LINKÖPING UNIVERSITY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); ELECTRIC ARC WELDING; INDUSTRIAL ROBOTS; ITERATIVE METHODS; MACHINE DESIGN;

DESIGN VARIABLES; ERROR REDUCTION; EXPERIMENTAL EVALUATION; ITERATIVE LEARNING CONTROL; LASER CUTTING; OPERATING POINTS; ROBUSTNESS PROPERTIES; SIX DEGREES OF FREEDOM;

TWO TERM CONTROL SYSTEMS;

EID: 84927723147     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.23919/ecc.2007.7068765     Document Type: Conference Paper

References (25)

1. ABB. Open public archive of robot images. www. Abb. se, October 2006.
2. S. Arimoto, S. Kawamura, and F. Miyazaki. Bettering operation of robots by learning. Journal of Robotic Systems, 1(2):123-140, 1984.
3. Z. Bien and J.-X. Xu. Iterative Learning Control: Analysis, Design, Integration and Application. Kluwer Academic Publishers, Boston, MA, 1998.
4. P. Bondi, G. Casalino, and L. Gambardella. On the iterative learning control theory for robotic manipulators. IEEE Journal of Robotics and Automation, 4:14-22, Feb 1988.
5. D. A. Bristow, M. Tharayil, and A. G. Alleyne. A survey of iterative learning control. IEEE Control Systems Magazine, pages 96-114, 2006.
6. G. Casalino and G. Bartolini. A learning procedure for the control of movements of robotic manipulators. In IASTED Symposium on Robotics and Automation, pages 108-111, San Francisco, USA, May 1984.
7. Y. Chen and C. Wen. Iterative Learning Control: Convergence, Robustness and Applications, volume 248 of Lecture Notes in Control and Information Sciences. Springer-Verlag, 1999.
8. J. J. Craig. Adaptive control of manipulators through repeated trials. In Proc. of ACC, pages 1566-1572, San Diego, CA, June 1984.
9. H. Elci, R. W. Longman, M. Q. Phan, J.-N. Juang, and R. Ugoletti. Simple learning control made practical by zero-phase filtering: Applications to robotics. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications, 49(6):753-767, June 2002.
10. Murray Garden. Learning control of actuators in control systems. US Patent, US03555252, Jan 1971. Leeds & Northrup Company, Philadelphia, USA.
11. Leica Geosystems. Laser trackers, October 2006.
12. Peter B. Goldsmith. On the equivalence of causal lti iterative learning control and feedback control. Automatica, 38:703-708, April 2002.
13. K. Guglielmo and N. Sadegh. Theory and implementation of a repetetive robot controller with cartesian trajectory description. Journal of Dynamic Systems, Measurement, and Control, 118:15-21, March 1996.
14. R. Horowitz, W. Messner, and J. B. Moore. Exponential convergence of a learning controller for robot manipulators. IEEE Transactions on Automatic Control, 36(7):890-894, July 1991.
15. F. Lange and G. Hirzinger. Learning accurate path control of industrial robots with joint elasticity. In Proc. IEEE Conference on Robotics and Automation, pages 2084-2089, Detriot, MI, USA, May 1999.
16. Lennart Ljung. System Identification Toolbox. User's Guide ver. 6. 2. The MathWorks, 2006.
17. R. W. Longman. Iterative learning control and repetitive control for engineering practice. International Journal of Control, 73(10):930-954, July 2000.
18. K. L. Moore. Iterative learning control-an expository overview. Applied and Computational Controls, Signal Processing and Circuits, 1:151-214, 1999.
19. K. L. Moore, Y. Chen, and V. Bahl. Monotonically convergent iterative learning control for linear discrete-time systems. Automatica, 41(9):1529-1537, Septemeber 2005.
20. M. Norrlöf and S. Gunnarsson. Experimental comparison of some classical iterative learning control algorithms. IEEE Transactions on Robotics and Automation, 18:636-641, 2002.
21. M. Norrlöf and S. Gunnarsson. Time and frequency domain convergence properties in iterative learning control. International Journal of Control, 75:1114-1126, 2002.
22. M. Norrlöf and S. Gunnarsson. A note on causal and CITE iterative learning control algorithms. Automatica, 41:345-350, 2005.
23. A. Tayebi. Adaptive iterative learning control for robot manipulators. Automatica, 40(7):1195-1203, July 2004.
24. M. Uchiyama. Formulation of high-speed motion pattern of a mechanical arm by trial. Trans. SICE (Soc. Instrum. Contr. Eng.), 14(6):706-712, 1978. Published in Japanese.
25. Chen YuangQuang and Kevin. L Moore. Comments on us patent 3555252: Learning control of actuators in control systems. In ILC Invited Sessions at ICARCV'2000 (The Sixth International Conference on Control, Automation, Robotics and Vision). In ICARCV'00 CDROM, The Sixth International Conference on Control, Automation, Robotics and Vision, Singapore, December 5-8 2000.