https://scholars.lib.ntu.edu.tw/handle/123456789/611440
標題: | A nested-loop iterative learning control for robot manipulators | 作者: | Lee Y.-H. Hsu S.-C. Du Y.-Y. Hu J.-S. Tsao T.-C. YU-HSIU LEE |
關鍵字: | Degrees of freedom (mechanics);Digital storage;End effectors;Flexible manipulators;Industrial manipulators;Industrial robots;Inverse problems;Iterative methods;Jacobian matrices;Learning algorithms;Modular robots;Robot applications;Dynamic inversion;Inversion techniques;Iterative learning control;Kinematic parameters;Robot manipulator;Six degree-of-freedom;Tracking performance;Trajectory tracking;Two term control systems | 公開日期: | 2019 | 卷: | 52 | 期: | 15 | 起(迄)頁: | 358-363 | 來源出版物: | IFAC-PapersOnLine | 摘要: | To improve the tracking performance of industrial robot manipulators, a nested-loop iterative learning control (ILC) structure is presented. It consists of an inner loop that deals with drive dynamics, and an outer loop which addresses impreciseness of kinematic parameters as well as joint static bias. A data-based frequency inversion technique with motion constraints is utilized for fast inner loop convergence. The outer loop measures the end effector deviation with a laser tracker and uses inverse Jacobian matrix for joint reference modification. Analysis of the algorithm is given, and is experimentally demonstrated on a six degree-of-freedom robot manipulator. It is shown that the proposed method mitigates the maximum dynamic tracking error by an order of magnitude, and is applicable to different payloads due to small system variation from torque shielding of gear reduction. ? 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85077493912&doi=10.1016%2fj.ifacol.2019.11.701&partnerID=40&md5=f2cfcb09e51f8c9067f89d696fb19dab https://scholars.lib.ntu.edu.tw/handle/123456789/611440 |
DOI: | 10.1016/j.ifacol.2019.11.701 |
顯示於: | 機械工程學系 |
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