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모델 정보 추정을 이용한 모델 기반 반복학습제어Model Based Iterative Learning Control Using Parameter Identification of Model Parameters
- Other Titles
- Model Based Iterative Learning Control Using Parameter Identification of Model Parameters
- Issue Date
- May-2014
- Publisher
- 제어로봇시스템학회
- Keywords
- Model based Interative Learning Control; Parameter Identification; Linear Matrix Inequality
- Citation
- 제어로봇시스템학회 국내학술대회 논문집, pp.322 - 324
- Indexed
- OTHER
- Journal Title
- 제어로봇시스템학회 국내학술대회 논문집
- Start Page
- 322
- End Page
- 324
- Abstract
- In this paper, iterative learning control(ILC) method for industrial robot manipulators that repeat same operation is proposed. ILC method is reducing tracking error by using error of previous trial, so ILC doesn't require information of robots. Performance of ILC can be, however, improved by using the information.Parameter identification(ID) is used to estimate information of robots. When doing parameter ID, robot model is linearized and data of input torque and output angle when robot tracking operation trajectory is used. Performance of the algorithm was verified by simulating 1-link manipulator with joint flexibility.
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Collections - 서울 공과대학 > 서울 기계공학부 > 1. Journal Articles
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