Journal of Electronic Measurement and Instrument (电子测量与仪器学报) 2013/27:9 PP.882-888
Palletizing manipulator plays a vital role in the production process of glass substrate. Aiming at the strong characteristic of repeatability for the palletizing process of glass substrate palletizing manipulator,the palletizing manipulator position tracking control method was proposed based on iterative learning control. Considering the non-repetitive disturbances robust iterative learning controller was devised. And the Lyapunov function was used to analyze the convergence of palletizing manipulator. The theoretical analysis results showed that,robust iterative learning control algorithm guaranteed the position tracking error of palletizing manipulator converges to zero. The simulation results also illustrated the validity of non-repetitive disturbances attenuation,and the better tracking performance was obtained,the control precision could reach 0.01 mm after 20 iterations. The experiment result demonstrates that the stacking error between adjacent glass substrate is less than 0.1 mm,and achieves a better control quality.