Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator

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

Autoren

  • H. Abdellatif
  • Bodo Heimann

Organisationseinheiten

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Details

OriginalspracheEnglisch
Titel des Sammelwerks2006 IEEE International Conference on Mechatronics, ICM
Seiten398-403
Seitenumfang6
PublikationsstatusVeröffentlicht - 2006
Veranstaltung2006 IEEE International Conference on Mechatronics, ICM - Budapest, Ungarn
Dauer: 3 Juli 2006 → 5 Juli 2006

Abstract

Iterative Learning Control (ILC) is proposed in this paper for the enhancement of tracking accuracy of a parallel direct driven manipulator. It is shown by means of a simulation study and by experimental results, that linear ILC is appropriate for application to the considered high nonlinear and coupled system. For this purpose, it is necessary to map the dynamics of the closed-loop feedback controlled system. This is achieved in a rst approach by the frequency response and in a second one by the difference equation of a linear time invariant plant. The results of both algorithms are discussed.

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Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator. / Abdellatif, H.; Heimann, Bodo.
2006 IEEE International Conference on Mechatronics, ICM. 2006. S. 398-403 4018395.

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

Abdellatif, H & Heimann, B 2006, Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator. in 2006 IEEE International Conference on Mechatronics, ICM., 4018395, S. 398-403, 2006 IEEE International Conference on Mechatronics, ICM, Budapest, Ungarn, 3 Juli 2006. https://doi.org/10.1109/ICMECH.2006.252560
Abdellatif, H., & Heimann, B. (2006). Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator. In 2006 IEEE International Conference on Mechatronics, ICM (S. 398-403). Artikel 4018395 https://doi.org/10.1109/ICMECH.2006.252560
Abdellatif H, Heimann B. Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator. in 2006 IEEE International Conference on Mechatronics, ICM. 2006. S. 398-403. 4018395 doi: 10.1109/ICMECH.2006.252560
Abdellatif, H. ; Heimann, Bodo. / Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator. 2006 IEEE International Conference on Mechatronics, ICM. 2006. S. 398-403
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