Johanna Wallen

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Experimental results from a first order P-type ILC algorithm applied to a large size six degrees of freedom commercial industrial robot are presented. The ILC algorithm is based on measurements of the motor angles, but in addition to the conventional evaluation of the ILC algorithm based on the control error on the motor side, the tool path error on the arm(More)
Estimates from an extended Kalman filter (EKF) is used in an Iterative Learning Control (ILC) algorithm applied to a realistic two-link robot model with flexible joints. The angles seen from the arm side of the joints (arm angles) are estimated by an EKF in two ways: 1) using measurements of angles seen from the motor side of the joints (motor angles),(More)
i i i i i i Cover illustration: ILC applied to a problem where, for example, a robot tool is supposed to track a circular path. In the beginning, the tracking performance is poor, but as the ILC algorithm " learns " , the performance improves and comes very close to a perfect circle. The orange colour represents the connection to the experiments performed(More)
Experimental evaluation of an Iterative Learning Control (ILC) algorithm is presented. The ILC algorithm is applied on all six motors of a large size commercial six degrees-of-freedom industrial robot. The performance of the algorithm is evaluated with respect to the operating point of the robot, the programmed tool velocity, and the design variables of the(More)
In this report some phenomena and events in the history of industrial robots have been described. The prerequisites are mainly the early automation in the industry, together with the playful automatons. With the computer and later on the integrated circuit, it was possible to develop the first industrial robots. The first robots were used for simple tasks(More)
A first step towards making a toolbox in Maple for industrial robot modelling is taken. Position and orientation of the tool can be determined in terms of the Denavit-Hartenberg joint variables and also the Jacobian relating the linear and angular velocities to the joint velocities. Further on it will be possible to, e.g., differentiate the Jacobian. Future(More)
In this paper a step toward making a toolbox for industrial robot modelling based on the computer algebra tool Maple is taken. It can be seen as a modelling platform for efficient derivation of the necessary equations for doing, e.g., sensor fusion or state estimation by an Extended Kalman Filter (EKF) algorithm. Forward kinematics is studied and the(More)
Rapporttyp Report category Licentiatavhandling Examensarbete C-uppsats D-uppsats¨Ovrig rapport URL för elektronisk version ISBN ISRN Serietitel och serienummer Title of series, numbering ISSN Titel Title Författare Author Sammanfattning Abstract Nyckelord Keywords VehProLib is one of many libraries being developed for the object oriented multi-domain(More)