Iterative Learning Control for Machining with Industrial Robots

Iterative Learning Control for Milling with Industrial Robots in Advanced Manufacturing

Iterative Learning Control for Milling with Industrial Robots in Advanced Manufacturing The demand of today for advanced manufactured parts with high precision is due to the increasing complexity of technologies. The parts are typically made by CNC (Computer Numerical Control) machines, which are expensive and comparably big. By using industrial robots that are significantly cheaper, reduced co...

Optimization of PID Controller with Supervisory Fuzzy Control for Industrial Robots

It is difficult to control the movement of the robot arm due to its nonlinear structure. PID controller is still in the world because of its simplicity in designing this controller as the main controller. The nonlinear control technique is very complicated, and this is not very interesting in the controller. While fuzzy control has a better performance, it incorporates a fuzzy control with ...

Learning Accurate Path Control of Industrial Robots with Joint Elasticity

An adaptive architecture for feedforward control oj industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastical joints. It assumes that the real position of the TCP can be recorded for ofline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical ...

Control technology for industrial robots

Lifted system iterative learning control applied to an industrial robot

This paper proposes a model-based iterative learning control algorithm for time-varying systems with a high convergence speed. The convergence of components of the tracking error can be controlled individually with the algorithm. The convergence speed of each error component can be maximised unless robustness for noise or unmodelled dynamics is needed. The learning control algorithm is applied ...