On the use of accelerometers in iterative learning control of a flexible robot arm

被引：14

作者：

Gunnarsson, S. ^{[1
]}

Norrlof, M. ^{[1
]}

Rahic, E. ^{[1
]}

Ozbek, M. ^{[1
]}

机构：

[1] Linkoping Univ, Dept Elect Engn, SE-58183 Linkoping, Sweden

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2007年 / 80卷 / 03期

关键词：

D O I：

10.1080/00207170600996518

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Iterative learning control (ILC) is applied to a robot arm with joint flexibility. The ILC algorithm uses an estimate of the arm angle, where the estimate is computed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is evaluated experimentally on a laboratory scale robot arm with good results.

引用

页码：363 / 373

页数：11

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