Unified ILC framework for repeating and varying tasks: A frequency domain approach with application to a wire-bonder

Boeren, Frank; Bareja, Abhishek; Kok, Tom; Oomen, Tom

doi:10.1109/cdc.2015.7403278

Cited by 4 publications

(4 citation statements)

References 21 publications

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“…Finally, an application to bonding equipment is presented to compare the proposed approach with existing ILC approaches for both repeating and varying tasks. This paper significantly extends the results in [17] by thorough proofs.…”

supporting

confidence: 71%

“…Weighting both f j +1 and f proj j +1 with SP in ( 17) is essential to achieve high performance. To see this, note that the weighting with SP in (17) implies that f proj j +1 (θ j +1 ) is determined such that êproj j +1 approximates êj+1 . Hence, θ j +1 in ( 14) is computed with respect to the performance measure êj+1 .…”

Section: B Projection Step For Frequency-domain Ilcmentioning

confidence: 99%

See 1 more Smart Citation

Frequency-Domain ILC Approach for Repeating and Varying Tasks: With Application to Semiconductor Bonding Equipment

Boeren

Bareja

Kok

et al. 2016

IEEE/ASME Trans. Mechatron.

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supporting

confidence: 71%

Section: B Projection Step For Frequency-domain Ilcmentioning

confidence: 99%

Frequency-Domain ILC Approach for Repeating and Varying Tasks: With Application to Semiconductor Bonding Equipment

Boeren

Bareja

Kok

et al. 2016

IEEE/ASME Trans. Mechatron.

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“…One of the limits of ilc is that it can only be used on tasks that are performed repeatedly, and the performance can deteriorate significantly if the tasks are slightly different. One solution to this is the use of basis functions in the ilc, which enables ilc use for slightly varying tasks [Boeren et al, 2015].…”

Section: Iterative Learning Controlmentioning

confidence: 99%

Inverse system identification with applications in predistortion

Jung

2019

Linköping Studies in Science and Technology. Dissertations

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Life is not easy. Finishing a PhD is not easy. One of the good things about the PhD is that you get a chance at the end to say thank you to the people who have helped you, which you might not get in life. This is my attempt to thank the ones who have helped me go through with this project. I'll start and end these acknowledgments with people without whom I think there would be no thesis (or not this, my thesis at least, others might still be able to write theirs). To my supervisor Dr. Martin Enqvist: I think I would have given up a long time ago if it wasn't for your encouragements. I am really impressed with how you always have time (or rather, take the time) to answer questions or concerns, and without feeling stressed. I know you have lots of other things to do and I really appreciate it. I also like how you can turn things around for a positive spin. Thank you for pushing me through this! Prof. Lennart Ljung and Prof. Torkel Glad, thanks for being co-supervisors and providing input. I should have talked, asked and learned more! I have had the pleasure of having three different bosses, who have all helped me sort out the work situation when life gets in the way. Prof. Lennart Ljung, Prof. Svante Gunnarsson and Dr. Martin Enqvist, you all seem to be able to guide the group forward as well as see the people and how to help. Lennart, thanks for letting me join the group! Svante, without your flexibility and willingness to adapt I could not have finished this thesis. Thank you! Martin, thanks for making every day bring-your-baby-to-work ! I am also grateful for the administrative help from Ninna Stensgård and her predecessor Åsa Karmelind. The upside of being on the slow side finishing your PhD is that you get to meet a lot of colleagues. I have really appreciated the Automatic control group and the amazing people in it! It is a group full of brilliant, fun, and hard working people, thank you all! I think my current office mate Kerstin is my favorite, but Patrik Leissner, Maryam Sadeghi Reineh and Gustaf Hendeby, you tie for second place (and you were all far less demanding)! Many colleagues I also consider friends and hope I will still see a lot of you in the future. Special shout outs to Manon Kok (for staying in touch and being a good friend), Daniel Petersson (for pepp and believing in me), Patrik Leissner (for friendship and helpfulness

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“…Note that B-spline functions are a particular case of basis functions, introduced into the ILC to reduce the dimensionality of the input/output spaces of the controlled plant, by describing command and output signals as a linear combination of a relatively small number of these basis functions [10]. The functions depend on the original reference signal and on the system dynamics, or are user-defined; for instance, in [11], [12], the basis functions are chosen starting from the plant dynamics; in [13], [14], the derivatives of the reference trajectory (position, velocity, acceleration, etc.) are considered; in [15], the basis functions are defined as Legendre polynomials.…”

Section: Introductionmentioning

confidence: 99%

Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification

Biagiotti

Moriello

Melchiorri

2020

IEEE Trans. Contr. Syst. Technol.

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In this paper, a novel repetitive control scheme is presented and discussed. The general framework is the control of repetitive tasks of robotic systems or, more in general, of automatic machines. The key idea of the proposed scheme consists in modifying the reference trajectory provided to the plant in order to compensate for external loads or unmodeled dynamics that cyclically affect it. By exploiting the fact that uniform B-spline trajectories can be generated by means of dynamic filters, the trajectory planning phase has been integrated within a repetitive control scheme able to modify in real-time the reference signal in order to nullify the tracking errors occurring at the desired via-points. Because of this mechanism, the control scheme is very suitable for the application to industrial plants with off-the-shelf, unmodifiable controllers. Experimental results obtained with a standard industrial manipulator both in jointand in work-space show the effectiveness of the proposed method.

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Unified ILC framework for repeating and varying tasks: A frequency domain approach with application to a wire-bonder

Cited by 4 publications

References 21 publications

Frequency-Domain ILC Approach for Repeating and Varying Tasks: With Application to Semiconductor Bonding Equipment

Frequency-Domain ILC Approach for Repeating and Varying Tasks: With Application to Semiconductor Bonding Equipment

Inverse system identification with applications in predistortion

Improving the Accuracy of Industrial Robots via Iterative Reference Trajectory Modification

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