Journals Information
Universal Journal of Control and Automation(CEASE PUBLICATION) Vol. 3(2), pp. 28 - 32
DOI: 10.13189/ujca.2015.030202
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Parameter Optimal Iterative Learning Control with Application to a Robot Arm
Mutita Songjun *
Department of Electrical and Computer Engineering, Faculty of Engineering, Naresuan University, Thailand
ABSTRACT
In this paper the parameter optimization ILC algorithm is used for trajectory tracking of the robot arm. This control scheme is based on the parameter optimization through a quadratic performance index which its solution will converge in norm to zero. The control design is very simple in the sense that the only requirement is to reduce the error of the movement of the robot arm for picking up the object at the desired target. Forward and Inverse kinematics analysis are applied to find the joint angles at the desired position and it will be compared with the current position to obtain the error value. The ILC algorithm will finally be used to correct the error trial to trial until the position of the robot arm is completely closed to the target.
KEYWORDS
Parameter Optimization, Iterative Learning Control
Cite This Paper in IEEE or APA Citation Styles
(a). IEEE Format:
[1] Mutita Songjun , "Parameter Optimal Iterative Learning Control with Application to a Robot Arm," Universal Journal of Control and Automation(CEASE PUBLICATION), Vol. 3, No. 2, pp. 28 - 32, 2015. DOI: 10.13189/ujca.2015.030202.
(b). APA Format:
Mutita Songjun (2015). Parameter Optimal Iterative Learning Control with Application to a Robot Arm. Universal Journal of Control and Automation(CEASE PUBLICATION), 3(2), 28 - 32. DOI: 10.13189/ujca.2015.030202.