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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