On the use of accelerometers in iterative learning control of a flexible robot arm

Abstract

Iterative learning control (ILC) is applied to a robot arm with joint flexibility. The ILC algorithm uses an estimate of the arm angle, where the estimate is computed using measurements of the motor angle and the arm angular acceleration. The design of the ILC algorithm is evaluated experimentally on a laboratory scale robot arm with good results.

Acknowledgment

This work was supported by the Swedish Research Council (VR) and the VINNOVA competence center ISIS.