TY - GEN
T1 - Robust two-degree-of-freedom iterative learning control for flexibility compensation of industrial robot manipulators
AU - Wang, Cong
AU - Zheng, Minghui
AU - Wang, Zining
AU - Tomizuka, Masayoshi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84977559833&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977559833&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487388
DO - 10.1109/ICRA.2016.7487388
M3 - Conference contribution
AN - SCOPUS:84977559833
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2381
EP - 2386
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -