In many applications of interest in industrial robotics, tasks are cyclic and must be repeated over and over. In this context, it seems natural to exploit the intrinsic properties of repetitive control schemes, where the cyclic nature of "disturbances" and/or unmodeled dynamic effects can be exploited to reduce the tracking errors. In this paper, we propose a new repetitive control scheme, where the main idea consists in the modification of the reference trajectory in order to compensate for the periodic undesired effects. By exploiting the dynamic filters for the B-spline generation, it is possible to integrate the trajectory planning within a repetitive control scheme able to modify in real-time the reference signal with the aims of nullify interpolation errors. By means of an extensive experimental activity on a servo mechanism pros and cons of the proposed approach are analyzed.
A Repetitive Control Scheme Based on B-Spline Trajectories Modification / Biagiotti, Luigi; Moriello, Lorenzo; Melchiorri, Claudio. - 48:19(2015), pp. 262-267. (Intervento presentato al convegno 11th IFAC Symposium on Robot Control SYROCO 2015 tenutosi a Salvador, Brazil nel 26–28 August 2015) [10.1016/j.ifacol.2015.12.043].
A Repetitive Control Scheme Based on B-Spline Trajectories Modification
BIAGIOTTI, Luigi;
2015
Abstract
In many applications of interest in industrial robotics, tasks are cyclic and must be repeated over and over. In this context, it seems natural to exploit the intrinsic properties of repetitive control schemes, where the cyclic nature of "disturbances" and/or unmodeled dynamic effects can be exploited to reduce the tracking errors. In this paper, we propose a new repetitive control scheme, where the main idea consists in the modification of the reference trajectory in order to compensate for the periodic undesired effects. By exploiting the dynamic filters for the B-spline generation, it is possible to integrate the trajectory planning within a repetitive control scheme able to modify in real-time the reference signal with the aims of nullify interpolation errors. By means of an extensive experimental activity on a servo mechanism pros and cons of the proposed approach are analyzed.File | Dimensione | Formato | |
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RepetitiveControl_DiscreteBsplineFilter_SYROCO2015_Final_6pages.pdf
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