NDLI: Iterative Learning Control for robotic deposition using machine vision

Content Provider	IEEE Xplore Digital Library
Author	Hoelzle, D.J. Alleyne, A.G. Johnson, A.J.W.
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. Sci. & Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL (Hoelzle, D.J.; Alleyne, A.G.; Johnson, A.J.W.)
Abstract	This work presents a new application of iterative learning control (ILC) in two respects. Firstly, the output signal is generated by a machine vision system. Secondly, ILC is applied to the extrusion process in micro robotic deposition (muRD), directly addressing the end product quality instead of contributors to end product quality such as position tracking. A P-type and model inversion learning function are both applied to the extrusion process, a system that has nonlinear dynamics and no readily available volumetric flowrate sensor. Theoretical and experimental results show that the nominal system is first order with a pure time delay. Both P-type and model inversion ILC improve the dynamics, with both systems providing better reference tracking. The ILC compensates for the unmodeled nonlinearities, realizing a reduction of RMS error to less than 20% of the initial value for the model inversion approach. Experiments are performed, displaying the ability to extrude precise and seamless closed shapes with the model inversion ILC. This is a necessary requirement for transitioning materials and embedding sensors in multi- material muRD.
Starting Page	4541
Ending Page	4547
File Size	586134
Page Count	7
File Format	PDF
ISBN	9781424420780
ISSN	07431619
DOI	10.1109/ACC.2008.4587211
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Machine learning Robot control Robot vision systems Machine vision Nonlinear dynamical systems Signal generators Robot sensing systems Sensor systems Delay effects Shape
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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