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 |
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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 Sept 2006 |
Event | 8th International IFAC Symposium on Robot Control, SYROCO 2006 - Bologna, Italy Duration: 6 Sept 2006 → 8 Sept 2006 Conference number: 8 |
Conference
Conference | 8th International IFAC Symposium on Robot Control, SYROCO 2006 |
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Abbreviated title | SYROCO |
Country/Territory | Italy |
City | Bologna |
Period | 6/09/06 → 8/09/06 |
Keywords
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