Estimation-based ILC applied to a parallel kinematic robot
نویسندگان
چکیده
منابع مشابه
a new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot
abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...
15 صفحه اولObserver-based ILC applied to the Gantry-Tau parallel kinematic robot — modelling, design and experiments, Report no. LiTH-ISY-R-2968
Three different approaches of iterative learning control (ILC) applied to a parallel kinematic robot are studied. First, the ILC algorithm is based on measured motor angles only. Second, tool-position estimates are used in the ILC algorithm. For evaluation, the ILC algorithm finally is based on measured tool position. Model-based tuning of the ILC filters enables learning above the resonance fr...
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ژورنال
عنوان ژورنال: Control Engineering Practice
سال: 2014
ISSN: 0967-0661
DOI: 10.1016/j.conengprac.2014.08.008