Iterative Learning Control of a Direct Driven Spatial Parallel Manipulator

verfasst von

H. Abdellatif, Bodo Heimann

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.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

398-403

Anzahl der Seiten

6

Publikationsdatum

2006

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Angewandte Informatik, Elektrotechnik und Elektronik, Maschinenbau

Elektronische Version(en)

https://doi.org/10.1109/ICMECH.2006.252560 (Zugang: Unbekannt)