Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autoren

  • Houssem Abdellatif
  • Matthias Feldt
  • Bodo Heimann

Organisationseinheiten

Externe Organisationen

  • IAV GmbH
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 2006 IEEE International Conference on Control Applications
ErscheinungsortMünchen, Deutschland
Seiten2528-2533
Seitenumfang6
PublikationsstatusVeröffentlicht - 2006

Abstract

This paper presents a novel application of Iterative Learning Control (ILC). It is about bettering control performance of Parallel Kinematic Manipulators (PKM) in the range of high dynamics. Such mechanisms suffer very often from lack of accuracy at high speed, since uncertainties, nonlinearities and disturbances have an important impact. The case seems to be predestinated for applying ILC. This will be demonstrated in this paper, where additional to a feedforward decoupling control structure, ILC techniques are used to decrease remaining tracking errors. Three algorithms are chosen to be validated, adjusted and compared. It is shown, that with an appropriate strategy, linear ILC approaches can be implemented on highly nonlinear and coupled MIMO-Systems, such as parallel manipulators.

Zitieren

Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator. / Abdellatif, Houssem; Feldt, Matthias; Heimann, Bodo.
Proc. of the 2006 IEEE International Conference on Control Applications. München, Deutschland, 2006. S. 2528-2533.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Abdellatif, H, Feldt, M & Heimann, B 2006, Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator. in Proc. of the 2006 IEEE International Conference on Control Applications. München, Deutschland, S. 2528-2533.
Abdellatif, H., Feldt, M., & Heimann, B. (2006). Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator. In Proc. of the 2006 IEEE International Conference on Control Applications (S. 2528-2533).
Abdellatif H, Feldt M, Heimann B. Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator. in Proc. of the 2006 IEEE International Conference on Control Applications. München, Deutschland. 2006. S. 2528-2533
Abdellatif, Houssem ; Feldt, Matthias ; Heimann, Bodo. / Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator. Proc. of the 2006 IEEE International Conference on Control Applications. München, Deutschland, 2006. S. 2528-2533
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abstract = "This paper presents a novel application of Iterative Learning Control (ILC). It is about bettering control performance of Parallel Kinematic Manipulators (PKM) in the range of high dynamics. Such mechanisms suffer very often from lack of accuracy at high speed, since uncertainties, nonlinearities and disturbances have an important impact. The case seems to be predestinated for applying ILC. This will be demonstrated in this paper, where additional to a feedforward decoupling control structure, ILC techniques are used to decrease remaining tracking errors. Three algorithms are chosen to be validated, adjusted and compared. It is shown, that with an appropriate strategy, linear ILC approaches can be implemented on highly nonlinear and coupled MIMO-Systems, such as parallel manipulators.",
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