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Iterative Learning Control Applied to a Gantry Robot and Conveyor System

Iterative Learning Control Applied to a Gantry Robot and Conveyor System
Iterative Learning Control Applied to a Gantry Robot and Conveyor System
Synchronisation is routinely required to coordinate the actions of the various sub-systems involved in process applications. This is commonly achieved through direct mechanical coupling, involving gears, drive belts and cams. Apart from the additional cost incurred, these components are subject to wear, constrain the layout of the plant, and may have limited accuracy. It is shown in this paper that a mechanical linkage between two sub-systems may be replaced by instead implementing a control scheme comprising an iterative learning controller together with a supervisory control loop. To illustrate the approach, two types of iterative learning controller are first implemented on a gantry robot test facility to confirm the high levels of tracking accuracy that may be achieved. The supervisory control loop is then added to synchronise the ‘pick and place’ action of the robot with a conveyor system moving at constant velocity. Experimental results are provided to confirm both the accurate tracking performance produced by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.
0142-3312
251-264
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Ratcliffe, James
84d4e3ea-1138-4622-a185-57aa153e53d8
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Ratcliffe, James
84d4e3ea-1138-4622-a185-57aa153e53d8

Freeman, Christopher, Lewin, Paul, Rogers, Eric and Ratcliffe, James (2010) Iterative Learning Control Applied to a Gantry Robot and Conveyor System. Transactions of the Institute of Measurement and Control, 32 (3), 251-264.

Record type: Article

Abstract

Synchronisation is routinely required to coordinate the actions of the various sub-systems involved in process applications. This is commonly achieved through direct mechanical coupling, involving gears, drive belts and cams. Apart from the additional cost incurred, these components are subject to wear, constrain the layout of the plant, and may have limited accuracy. It is shown in this paper that a mechanical linkage between two sub-systems may be replaced by instead implementing a control scheme comprising an iterative learning controller together with a supervisory control loop. To illustrate the approach, two types of iterative learning controller are first implemented on a gantry robot test facility to confirm the high levels of tracking accuracy that may be achieved. The supervisory control loop is then added to synchronise the ‘pick and place’ action of the robot with a conveyor system moving at constant velocity. Experimental results are provided to confirm both the accurate tracking performance produced by the iterative learning controller, and the high level of synchronisation achieved by the overall scheme.

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Published date: 1 June 2010
Organisations: EEE, Southampton Wireless Group

Identifiers

Local EPrints ID: 267041
URI: http://eprints.soton.ac.uk/id/eprint/267041
ISSN: 0142-3312
PURE UUID: 079edb9d-b660-4598-a7c3-43403ba28f6f
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398

Catalogue record

Date deposited: 19 Jan 2009 23:38
Last modified: 03 Dec 2019 02:04

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Contributors

Author: Christopher Freeman
Author: Paul Lewin
Author: Eric Rogers ORCID iD
Author: James Ratcliffe

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