Iterative learning control for improved end-effector accuracy of an industrial robot

Wouter Hakvoort; Ronald G.K.M. Aarts; Johannes van Dijk; Jan B. Jonker

Iterative learning control for improved end-effector accuracy of an industrial robot

Wouter Hakvoort, Ronald G.K.M. Aarts, Johannes van Dijk, Jan B. Jonker

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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Abstract

In this paper Iterative Learning Control is used to improve the tracking accuracy of the end-effector of an industrial robot. The learning control algorithm is based on a straightforward robot model and an optimisation criterium. The algorithm is tested on an industrial robot, where the end-effector motion is measured relative to a weld seam using a seam tracking sensor based on optical triangulation. The experiments show that the tracking error can be reduced considerably in a few iterations.

Original language	Undefined
Title of host publication	Proceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM)
Editors	B. Siciliano
Place of Publication	Bologna, Italy
Publisher	IFAC
Pages	151-156
Number of pages	6
Publication status	Published - 6 Sep 2006
Event	8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy Duration: 6 Sep 2006 → 8 Sep 2006 Conference number: 8

Conference

Conference	8th International IFAC Symposium on Robot Control, SYROCO 2006
Abbreviated title	SYROCO
Country/Territory	Italy
City	Bologna
Period	6/09/06 → 8/09/06

Keywords

METIS-232380

Access to Document

1-s2.0-S1474667016385068-mainFinal published version, 245 KBLicence: Taverne

Cite this

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title = "Iterative learning control for improved end-effector accuracy of an industrial robot",

abstract = "In this paper Iterative Learning Control is used to improve the tracking accuracy of the end-effector of an industrial robot. The learning control algorithm is based on a straightforward robot model and an optimisation criterium. The algorithm is tested on an industrial robot, where the end-effector motion is measured relative to a weld seam using a seam tracking sensor based on optical triangulation. The experiments show that the tracking error can be reduced considerably in a few iterations.",

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Hakvoort, W , Aarts, RGKM, van Dijk, J & Jonker, JB 2006, Iterative learning control for improved end-effector accuracy of an industrial robot. in B Siciliano (ed.), Proceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM). IFAC, Bologna, Italy, pp. 151-156, 8th International IFAC Symposium on Robot Control, SYROCO 2006, Bologna, Italy, 6/09/06.

Iterative learning control for improved end-effector accuracy of an industrial robot. / Hakvoort, Wouter ; Aarts, Ronald G.K.M.; van Dijk, Johannes; Jonker, Jan B.

Proceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM). ed. / B. Siciliano. Bologna, Italy : IFAC, 2006. p. 151-156.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Aarts, Ronald G.K.M.

AU - van Dijk, Johannes

AU - Jonker, Jan B.

N1 - Conference code: 8

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AB - In this paper Iterative Learning Control is used to improve the tracking accuracy of the end-effector of an industrial robot. The learning control algorithm is based on a straightforward robot model and an optimisation criterium. The algorithm is tested on an industrial robot, where the end-effector motion is measured relative to a weld seam using a seam tracking sensor based on optical triangulation. The experiments show that the tracking error can be reduced considerably in a few iterations.

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BT - Proceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM)

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