Iterative learning control for piecewise arc path tracking with validation on a gantry robot manufacturing platform

Chen, Yiyang and Freeman, Christopher (2023) Iterative learning control for piecewise arc path tracking with validation on a gantry robot manufacturing platform. ISA Transactions, 139, 650-659. (doi:10.1016/j.isatra.2023.03.046).

Record type: Article

Abstract

The piecewise arc path tracking problem is studied within manufacturing systems operating in a repetitive mode, e.g. assembly production line. Here, the end-effector of a system should follow a spatial path without any specific temporal tracking constraints, which makes the temporal profile not fixed a priori. The control technique iterative learning control (ILC) is considered to handle this problem, since compared to classical feedback control methods, ILC is capable of learning from previous trial information to minimize the tracking error along the repetitive trials. This paper extends ILC task description to address piecewise arc path tracking tasks, and further formulates a more general design framework than existing spatial ILC approaches. A comprehensive ILC algorithm is designed to handle this sort of piecewise arc path tracking problem, and practical implementation instructions are provided. The validation is conducted on a gantry robot manufacturing testbed to confirm its efficiency and feasibility in practice with a comparison to existing methods showing its higher path tracking accuracy.

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Iterative Learning Control for Piecewise Arc Path Tracking with Validation on A Gantry Robot Manufacturing Platform - Accepted Manuscript

Restricted to Repository staff only until 31 March 2025.

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