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Model Based Iterative Learning Control Using Parameter Identification of Model Parameters

Title
Model Based Iterative Learning Control Using Parameter Identification of Model Parameters
Other Titles
모델 정보 추정을 이용한 모델 기반 반복학습제어
Author
박종현
Keywords
Model Based Iterative Learning Control; Parameter Identification; Linear Matrix Inequality; Engineering
Issue Date
2014-05
Publisher
제어로봇시스템학회 / Institute of Control, Robotics and Systems
Citation
2014 제29회 ICROS 학술대회, 2014, 2014(5), p.322-324
Abstract
In this paper, iterative learning control(ILC) method for industrial robot manipulators that repeat same operation is proposed. ILC method is reducing tracking error by using error of previous trial, so ILC doesn't require information of robots. Performance of ILC can be, however, improved by using the information.Parameter identification(ID) is used to estimate information of robots. When doing parameter ID, robot model is linearized and data of input torque and output angle when robot tracking operation trajectory is used. Performance of the algorithm was verified by simulating 1-link manipulator with joint flexibility.
URI
http://www.dbpia.co.kr/Article/NODE02434807http://hdl.handle.net/20.500.11754/54460
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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