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파라미터 추정을 이용한 반복학습제어

Title
파라미터 추정을 이용한 반복학습제어
Other Titles
Iterative Learning Control with Parameter Identification
Author
박종현
Keywords
Iterative Learning Control; Parameter Identification; Linearization
Issue Date
2013-12
Publisher
대한기계학회
Citation
대한기계학회 춘추학술대회, 2013, p.2149-2152
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. Information of robot is necessary to guarantee performance of ILC. Closed transfer function of robot can be linearized if desired and output trajectory are considered as input and output respectively, and it is easy to apply. ILC with identified parameters of the linearized transfer function shows better performance.
URI
http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02365846http://hdl.handle.net/20.500.11754/56165
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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