A Simple Computationally Efficient Path ILC for Industrial Robotic Manipulators
Michael Schwegel,Andreas Kugi,Michael Schwegel,Andreas Kugi
In this paper, a numerically efficient flexible control scheme for the absolute accuracy of industrial robots is presented and experimentally validated. A model-based controller that leverages all typically available parameters is combined with an online path iterative learning controller (ILC). The ILC law is employed to compensate for the unknown residual error dynamics caused by elastic and tra...
