The third part of this dissertation is on vision-based ILC, which utilizes vision data as link-side measurement. The vision sensors provide the error between the TCP position and the target reference, but, they do not provide the TCP position itself. In this part, we estimate the desired link position to cancel the error in Cartesian-space by utilizing the kinematic relationship between the joint angle and the vision data. The controller performance is verified on a industrial robot.List of Figures 2.1 M-16AlB Fanuc Robot 8 2.2 Experimental Setup 9 2.3 Real- Time Procedure 12 2.4 Payload ... 2.10 Frequency Magnitude Response of Jl 18 2.11 Feedback-back Controller Structure 19 3.1 Controller System for ILC 22 3.2 Ananbsp;...
|Title||:||Iterative Learning Control for Industrial Robots with End Effector Sensing|
|Publisher||:||ProQuest - 2008|