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

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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 languageUndefined
    Title of host publicationProceedings of the 8th International IFAC Symposium on Robot Control (on CD-ROM)
    EditorsB. Siciliano
    Place of PublicationBologna, Italy
    PublisherIFAC
    Pages151-156
    Number of pages6
    Publication statusPublished - 6 Sep 2006
    Event8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy
    Duration: 6 Sep 20068 Sep 2006
    Conference number: 8

    Conference

    Conference8th International IFAC Symposium on Robot Control, SYROCO 2006
    Abbreviated titleSYROCO
    CountryItaly
    CityBologna
    Period6/09/068/09/06

    Keywords

    • METIS-232380

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