Visual feedback arm robot based on iterative learning control using repetitive control optimization

Conference proceedings article

Authors/Editors

BENJAMAS PANOMRUTTANARUG

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Publication Details

Author list: Wenai S., Panomruttanarug B., Tangamchit P.

Publisher: Hindawi

Publication year: 2009

Volume number: 1

Start page: 358

End page: 361

Number of pages: 4

ISBN: 9781424433889

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-70350060016&doi=10.1109%2fECTICON.2009.5137026&partnerID=40&md5=57f302d7f601b2f412b5aafd147836dc

Languages: English-Great Britain (EN-GB)

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Abstract

This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from the two hardware devices: encoder and webcam. Performance of robot using the two types of feedback signal is discussed in detail. Simple learning control law is first applied to the system and a more complicated control law designed from optimization in the similar field is later used. ฉ2009 IEEE.

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