Iterative learning control of a flexible robot arm using accelerometers

Abstract

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