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

5 Downloads (Pure)

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	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

@inproceedings{1b05d9812fb24072b6cd156295baeb60,

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.",

keywords = "METIS-232380",

author = "Wouter Hakvoort and Aarts, {Ronald G.K.M.} and {van Dijk}, Johannes and Jonker, {Jan B.}",

year = "2006",

month = sep,

day = "6",

language = "Undefined",

pages = "151--156",

editor = "B. Siciliano",

booktitle = "Proceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM)",

publisher = "IFAC",

note = "null ; Conference date: 06-09-2006 Through 08-09-2006",

}

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

TY - GEN

T1 - Iterative learning control for improved end-effector accuracy of an industrial robot

AU - Hakvoort, Wouter

AU - Aarts, Ronald G.K.M.

AU - van Dijk, Johannes

AU - Jonker, Jan B.

N1 - Conference code: 8

PY - 2006/9/6

Y1 - 2006/9/6

N2 - 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.

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.

KW - METIS-232380

M3 - Conference contribution

SP - 151

EP - 156

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

A2 - Siciliano, B.

PB - IFAC

CY - Bologna, Italy

Y2 - 6 September 2006 through 8 September 2006

ER -