Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

  • H. Abdellatif
  • Bodo Heimann

Research Organisations

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Details

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics, ICM
Pages398-403
Number of pages6
Publication statusPublished - 2006
Event2006 IEEE International Conference on Mechatronics, ICM - Budapest, Hungary
Duration: 3 Jul 2006 → 5 Jul 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.

ASJC Scopus subject areas

Cite this

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

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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, pp. 398-403, 2006 IEEE International Conference on Mechatronics, ICM, Budapest, Hungary, 3 Jul 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 (pp. 398-403). Article 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. p. 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. pp. 398-403
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