Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm

Experimental Validation of Functional Iterative Learning Control on a One-Link Flexible Arm

Drost, S.C. (Student TU Delft)
Pustina, P. (TU Delft Learning & Autonomous Control)
Angelini, Franco (University of Pisa)
De Luca, Alessandro (Sapienza University of Rome)
Smit, G. (TU Delft Medical Instruments & Bio-Inspired Technology)
Della Santina, C. (TU Delft Learning & Autonomous Control)

2023

Performing precise, repetitive motions is essential in many robotic and automation systems. Iterative learning control (ILC) allows determining the necessary control command by using a very rough system model to speed up the process. Functional iterative learning control is a novel technique that promises to solve several limitations of classic ILC. It operates by merging the input space into a large functional space, resulting in an over-determined control task in the iteration domain. In this way, it can deal with systems having more outputs than inputs and accelerate the learning process without resorting to model discretizations. However, the framework lacks so far a validation in experiments. This paper aims to provide such experimental validation in the context of robotics. To this end, we designed and built a one-link flexible arm that is actuated by a stepper motor, which makes the development of an accurate model more challenging and the validation closer to the industrial practice. We provide multiple experimental results across several conditions, proving the feasibility of the method in practice.

http://resolver.tudelft.nl/uuid:68831a5a-2093-4e33-88d2-bb4b51f15946

https://doi.org/10.1109/ICRA48891.2023.10161397

IEEE

2024-01-04

979-8-3503-2365-8

Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2023)

ICRA 2023: International Conference on Robotics and Automation, 2023-05-29 → 2023-06-02, London, United Kingdom

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2023 S.C. Drost, P. Pustina, Franco Angelini, Alessandro De Luca, G. Smit, C. Della Santina