Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom industrial robots
In this article, an adaptive iterative learning control (AILC) scheme has been proposed to enhance the accuracy of the dynamic path tracking of 6-degrees of freedom industrial robots. Based on the memorized data and current feedback from a three-dimensional visual measurement instrument, an adaptive...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2024-11-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806241283228 |
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| _version_ | 1846164261861064704 |
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| author | Tingting Shu Pengcheng Li Ronghua Zhang Wenfang Xie |
| author_facet | Tingting Shu Pengcheng Li Ronghua Zhang Wenfang Xie |
| author_sort | Tingting Shu |
| collection | DOAJ |
| description | In this article, an adaptive iterative learning control (AILC) scheme has been proposed to enhance the accuracy of the dynamic path tracking of 6-degrees of freedom industrial robots. Based on the memorized data and current feedback from a three-dimensional visual measurement instrument, an adaptive algorithm is developed to update the time-varying control parameters of the AILC scheme iteratively. A new compensation signal is calculated to adjust the control inputs produced by the dynamic path tracking control module at each time interval. Through the adaptation algorithm, the identical initial conditions can be relaxed to some extent with the AILC scheme. Moreover, the stability analysis of the proposed AILC scheme is presented. Experimental results on FANUC M20iA, using C-Track 780 as a photogrammetry sensor, demonstrate the superior performance of the developed AILC scheme in terms of pose accuracy, disturbance rejection ability, and control performance. |
| format | Article |
| id | doaj-art-4c07be4b710a4b43b4b7b546da213fd0 |
| institution | Kabale University |
| issn | 1729-8814 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj-art-4c07be4b710a4b43b4b7b546da213fd02024-11-18T10:04:01ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142024-11-012110.1177/17298806241283228Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom industrial robotsTingting Shu0Pengcheng Li1Ronghua Zhang2Wenfang Xie3 Gina Cody School of Engineering and Computer Science, , Montreal, Canada , Nanjing, China , Changsha, China Gina Cody School of Engineering and Computer Science, , Montreal, CanadaIn this article, an adaptive iterative learning control (AILC) scheme has been proposed to enhance the accuracy of the dynamic path tracking of 6-degrees of freedom industrial robots. Based on the memorized data and current feedback from a three-dimensional visual measurement instrument, an adaptive algorithm is developed to update the time-varying control parameters of the AILC scheme iteratively. A new compensation signal is calculated to adjust the control inputs produced by the dynamic path tracking control module at each time interval. Through the adaptation algorithm, the identical initial conditions can be relaxed to some extent with the AILC scheme. Moreover, the stability analysis of the proposed AILC scheme is presented. Experimental results on FANUC M20iA, using C-Track 780 as a photogrammetry sensor, demonstrate the superior performance of the developed AILC scheme in terms of pose accuracy, disturbance rejection ability, and control performance.https://doi.org/10.1177/17298806241283228 |
| spellingShingle | Tingting Shu Pengcheng Li Ronghua Zhang Wenfang Xie Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom industrial robots International Journal of Advanced Robotic Systems |
| title | Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom
industrial robots |
| title_full | Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom
industrial robots |
| title_fullStr | Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom
industrial robots |
| title_full_unstemmed | Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom
industrial robots |
| title_short | Adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6-degrees of freedom
industrial robots |
| title_sort | adaptive iterative learning control for enhancing the dynamic path tracking accuracy of 6 degrees of freedom industrial robots |
| url | https://doi.org/10.1177/17298806241283228 |
| work_keys_str_mv | AT tingtingshu adaptiveiterativelearningcontrolforenhancingthedynamicpathtrackingaccuracyof6degreesoffreedomindustrialrobots AT pengchengli adaptiveiterativelearningcontrolforenhancingthedynamicpathtrackingaccuracyof6degreesoffreedomindustrialrobots AT ronghuazhang adaptiveiterativelearningcontrolforenhancingthedynamicpathtrackingaccuracyof6degreesoffreedomindustrialrobots AT wenfangxie adaptiveiterativelearningcontrolforenhancingthedynamicpathtrackingaccuracyof6degreesoffreedomindustrialrobots |