Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators

Cong Wang, Minghui Zheng, Zining Wang, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Scopus citations

Abstract

Most industrial robots are actuated using geared motors with no direct load side measurement. The flexibility introduced by the gear reducer causes transmission errors and vibrations, which limits the adoption of robot manipulators in many demanding applications. This paper presents a lean and efficient scheme of iterative learning control (ILC) to compensate for the joint flexibility of industrial robot manipulators. A two-degree-of-freedom ILC method is introduced. Compared with the dual-stage ILC that has been previously proposed for servo flexibility compensation, the method is more effective and also enables a leaner implementation. In addition, in order to handle system variation, a robust synthesis method is developed by using H∞ and μ techniques in an innovative way. The proposed method is analyzed using simulation studies as well as tested on an actual industrial robot manipulator.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2381-2386
Number of pages6
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country/TerritorySweden
CityStockholm
Period5/16/165/21/16

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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