Model-based iterative learning control for industrial robot manipulators

2009 ◽  
Author(s):  
Je Sung Yeon ◽  
Jong Hyeon Park ◽  
Seung-Woo Son ◽  
Sang-Hun Lee
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Learning Control ◽  
Iterative Learning ◽  
Model Based

Robust Iterative Learning Control for Vibration Suppression of Industrial Robot Manipulators

2017 ◽  
Vol 140 (1) ◽  
Author(s):  
Cong Wang ◽  
Minghui Zheng ◽  
Zining Wang ◽  
Cheng Peng ◽  
Masayoshi Tomizuka
Keyword(s):  
Iterative Learning Control ◽  
Vibration Suppression ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Gaussian Process Regression ◽  
Learning Control ◽  
Industrial Applications ◽  
Iterative Learning ◽  
Cost Constraints

Vibration suppression is of fundamental importance to the performance of industrial robot manipulators. Cost constraints, however, limit the design options of servo and sensing systems. The resulting low drive-train stiffness and lack of direct load-side measurement make it difficult to reduce the vibration of the robot's end-effector and hinder the application of robot manipulators to many demanding industrial applications. This paper proposes a few ideas of iterative learning control (ILC) for vibration suppression of industrial robot manipulators. Compared to the state-of-the-art techniques such as the dual-stage ILC method and the two-part Gaussian process regression (GPR) method, the proposed method adopts a two degrees-of-freedom (2DOF) structure and gives a very lean formulation as well as improved effects. Moreover, in regards to the system variations brought by the nonlinear dynamics of robot manipulators, two robust formulations are developed and analyzed. The proposed methods are explained using simulation studies and validated using an actual industrial robot manipulator.

scholarly journals A Nested-Loop Iterative Learning Control for Robot Manipulators

2019 ◽  
Vol 52 (15) ◽  
pp. 358-363
Author(s):  
Yu-Hsiu Lee ◽  
Sheng-Chieh Hsu ◽  
Yan-Yi Du ◽  
Jwu-Sheng Hu ◽  
Tsu-Chin Tsao
Keyword(s):  
Iterative Learning Control ◽  
Robot Manipulators ◽  
Learning Control ◽  
Iterative Learning ◽  
Nested Loop
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