Fundamental concepts of Iterative Learning Control (ILC) are applied to path generating problems in mechanisms. As an illustration to such class of problems, an adjustable four-bar linkage is used. The coupler point of a four-bar traces a coupler curve that will in general deviate from the desired coupler path. Except at the precision points, the coupler curve will exhibit some structural error, which is the deviation from the specified curve. The structural error will repeat itself every cycle at exactly the same points over the range of interest. Since ILC is a methodology that was developed to handle similar repetitive errors in control systems, it is believed that it will be well served to apply it to this class of problems. Results show that ILC can be simple to implement, and it is found to be very well suited for such path generation problems.
- Design Engineering Division and Computers and Information in Engineering Division
Eliminating Structural Error in Real-Time Adjustable Four-Bar Path Generators Using Iterative Learning Control
- Views Icon Views
- Share Icon Share
- Search Site
Chen, H, Longman, RW, & Chew, M. "Eliminating Structural Error in Real-Time Adjustable Four-Bar Path Generators Using Iterative Learning Control." Proceedings of the ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B. Salt Lake City, Utah, USA. September 28–October 2, 2004. pp. 1477-1485. ASME. https://doi.org/10.1115/DETC2004-57573
Download citation file: