Proceedings of the KSME Conference (대한기계학회:학술대회논문집)

The Korean Society of Mechanical Engineers (대한기계학회)
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Iterative Learning Control for Industrial Robot Manipulators

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  • 하태준 (한양대학교 기계공학과 대학원) ;
  • 연제성 (한양대학교 기계공학과) ;
  • 박종현 (한양대학교 기계공학과) ;
  • 손승우 (현대중공업 기계전기연구소) ;
  • 이상훈 (현대중공업 기계전기연구소)
  • Published : 2008.11.05
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Abstract

Uncertain dynamic parameters and joint flexibility have been problem to control robot manipulator precisely. Hence, even if the controller tracks the desired trajectory well with the feedback of the motor encoders, it is hard to achieve the desired behavior at the end-effector. In this paper, robot trajectory is taught by a general heuristic iterative learning control (ILC) algorithm in order to reduce tracking error of the tool center point (TCP) and the results of tracking with 6 DOF industrial robot manipulator are presented. The performance is verified based on ISO 9283.

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