Simulation Analysis of Random Initial Error with Iterative Learning Control Method for Robot Arms

Authors

  • Zhengjie Lu School of Mechanical and Electrical Engineering, Hechi University, Yizhou, Guangxi, China
  • Mengji Chen School of Mechanical and Electrical Engineering, Hechi University, Yizhou, Guangxi, China
  • Yinjun Zhang School of Mechanical and Electrical Engineering, Hechi University, Yizhou, Guangxi, China

Abstract

In this paper, Iterative Learning Control (ILC) is used as the core algorithm. By improving ILC algorithm, a control algorithm suitable for trajectory tracking of industrial robots is proposed. Without resetting the initial conditions, an iterative learning control method is designed to accelerate the suppression of random initial state errors. A modified initial state error interval is defined, which decreases with the number of iterations. Combining with the iterative learning control algorithm, the industrial robot can track the trajectory without resetting the initial conditions, and the tracking error converges to zero asymptotically. In terms of A norm, the convergence of the iterative learning control algorithm is proved. The simulation experiment results of the iterative learning control algorithm for accelerating the suppression of random initial state error are given, and compared
with the simulation experiment results of the iterative learning control method without acceleration suppression random initial state error. The results show that the proposed condition-free acceleration is effective. The iterative learning control method for suppressing the random initial state error has a good inhibitory effect on the random initial error of industrial robots.

Keywords: Industrial robots,iterative learning control, disturbance

Cite As

Z. Lu, M. Chen, Y. Zhang, "Simulation Analysis of Random Initial Error with Iterative Learning Control Method
for Robot Arms", Engineering Intelligent Systems, vol. 27 no. 4, pp. 201-211, 2019.



Downloads

Published

2019-12-01

Issue

Vol. 27 No. 4 (2019): International Journal of Engineering Intelligent Systems

Section

General Submission

License

The submission of a paper implies that, if accepted for publication, it will not be published elsewhere in the same form, in any language, without the prior consent of the publisher. Before publication, authors are requested to assign copyright to CRL Publishing Ltd. This allows CRL to sanction photocopying, and to authorize the reprinting of issues or volumes according to demand. Authors' traditional rights will not be jeopardized by assigning Copyright in this way, as they retain the right to reuse the material following publication, and to veto third-party publication.