Details
| Original language | English |
|---|---|
| Title of host publication | Proc. of the 2006 IEEE International Conference on Control Applications |
| Place of Publication | München, Deutschland |
| Pages | 2528-2533 |
| Number of pages | 6 |
| Publication status | Published - 2006 |
Abstract
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Proc. of the 2006 IEEE International Conference on Control Applications. München, Deutschland, 2006. p. 2528-2533.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Application Study on Iterative Learning Control of High Speed Motions for Parallel Robotic Manipulator
AU - Abdellatif, Houssem
AU - Feldt, Matthias
AU - Heimann, Bodo
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
M3 - Conference contribution
SP - 2528
EP - 2533
BT - Proc. of the 2006 IEEE International Conference on Control Applications
CY - München, Deutschland
ER -