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초록
In this paper, iterative learning control(ILC) method for industrial robot manipulators that repeat same operation is proposed. ILC method is reducing tracking error by using error of previous trial, so ILC doesn't require information of robots. Performance of ILC can be, however, improved by using the information.Parameter identification(ID) is used to estimate information of robots. When doing parameter ID, robot model is linearized and data of input torque and output angle when robot tracking operation trajectory is used. Performance of the algorithm was verified by simulating 1-link manipulator with joint flexibility.
키워드
Model based Interative Learning Control; Parameter Identification; Linear Matrix Inequality
- 제목
- 모델 정보 추정을 이용한 모델 기반 반복학습제어
- 제목 (타언어)
- Model Based Iterative Learning Control Using Parameter Identification of Model Parameters
- 저자
- 윤종현; 나예환; 박종현; 김필준
- 발행일
- 2014-05
- 유형
- Proceeding
- 저널명
- 제어로봇시스템학회 국내학술대회 논문집
- 페이지
- 322 ~ 324