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파라미터 추정을 이용한 반복학습제어Iterative Learning Control with Parameter Identification
- Other Titles
- Iterative Learning Control with Parameter Identification
- Issue Date
- Dec-2013
- Publisher
- 대한기계학회
- Keywords
- Iterative Learning Control(반복학습제어); Parameter Identification(파라미터 추정); Linearization(선형화)
- Citation
- 대한기계학회 2013년도 학술대회, pp.2149 - 2152
- Indexed
- OTHER
- Journal Title
- 대한기계학회 2013년도 학술대회
- Start Page
- 2149
- End Page
- 2152
- 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. Information of robot is necessary to guarantee performance of ILC. Closed transfer function of robot can be linearized if desired and output trajectory are considered as input and output respectively, and it is easy to apply. ILC with identified parameters of the linearized transfer function shows better performance.
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