Conference
Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm
| العنوان: | Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm |
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| المؤلفون: | Drost, Sjoerd, Pustina, Pietro, Angelini, Franco, De Luca, Alessandro, Smit, Gerwin, Della Santina, Cosimo |
| المساهمون: | Drost, Sjoerd, Pustina, Pietro, Angelini, Franco, De Luca, Alessandro, Smit, Gerwin, Della Santina, Cosimo |
| بيانات النشر: | Institute of Electrical and Electronics Engineers Inc. |
| سنة النشر: | 2023 |
| المجموعة: | ARPI - Archivio della Ricerca dell'Università di Pisa |
| مصطلحات موضوعية: | flexible manipulators, iterative learning control, iterative methods, learning systems, classic ILC, experimental validation, functional iterative learning control, functional space, iteration domain, learning process, multiple experimental results, necessary control command, one-link flexible arm, over-determined control task, performing precise motions, repetitive motions, robotic automation systems, rough system model, Automation, Service robots, Merging, Process control, Aerospace electronics, Manipulators, Task analysis |
| الوصف: | Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic ILC. It operates by merging the input space into a large functional space, resulting in an over-determined control task in the iteration domain. In this way, it can deal with systems having more outputs than inputs and accelerate the learning process without resorting to model discretizations. However, the framework lacks so far a validation in experiments. This paper aims to provide such experimental validation in the context of robotics. To this end, we designed and built a one-link flexible arm that is actuated by a stepper motor, which makes the development of an accurate model more challenging and the validation closer to the industrial practice. We provide multiple experimental results across several conditions, proving the feasibility of the method in practice. |
| نوع الوثيقة: | conference object |
| اللغة: | English |
| Relation: | info:eu-repo/semantics/altIdentifier/isbn/979-8-3503-2365-8; ispartofbook:2023 IEEE International Conference on Robotics and Automation (ICRA); 2023 IEEE International Conference on Robotics and Automation (ICRA); firstpage:5291; lastpage:5297; numberofpages:7; serie:IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION; https://hdl.handle.net/11568/1213339; info:eu-repo/semantics/altIdentifier/scopus/2-s2.0-85168652889; https://ieeexplore.ieee.org/document/10161397 |
| DOI: | 10.1109/ICRA48891.2023.10161397 |
| الاتاحة: | https://hdl.handle.net/11568/1213339 https://doi.org/10.1109/ICRA48891.2023.10161397 https://ieeexplore.ieee.org/document/10161397 |
| رقم الانضمام: | edsbas.DFC44E3 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1109/ICRA48891.2023.10161397 |
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