Biography
Prof. Guanglei Wu
Prof. Guanglei Wu
School of Mechanical Engineering, Dalian University of Technology, China
Title: Application of iterative learning control to fast parallel robot for material handling
Abstract: 
Precise control is of importance for robots, whereas, due to the presence of modeling errors and uncertainties under the complex working environment, it is difficult to obtain an accurate dynamic model of the robot, leading to decreased control performances. This speech presents the iterative learning control applied to a four-limb parallel Schönflies-motion robot, aiming to improve the tracking accuracy with high movement, in which the controller can learn from the iterative errors to make the robot end-effector approximate to the expected trajectory. The control algorithm is compared with classical D-ILC, which is illustrated along with an industrial trajectory of pick-and-place operation. External repetitive and non-repetitive disturbances are added to verify the robustness of the proposed approach. To verify the overall performance of the proposed control law, multiple trajectories within the workspace, different working frequencies for a prescribed trajectory, and different design methods are selected, which show the effectiveness and the generalization ability of the designed controller.
Biography: 
Dr. Guanglei Wu received his PhD in robotics from Aalborg University, Denmark, 2013, and worked as an industrial Postdoc fellow in Aalborg University from 2014 to 2016. He was a visiting scholar in the Research Institute in Communications and Cybernetics of Nantes (IRCCyN, currently reorganized as Laboratory of Digital Sciences of Nantes-LS2N) in June-July 2012, in McGill University in Aug. 2015, and in Aarhus University in 2020. Currently, he is a professor in School of Mechanical Engineering, Dalian University of Technology (DUT). His research interests include robotic technology, conceptual design and performance evaluation of robots, robot dynamics and control, industrial robots and their applications. He has published one monography by Springer, 9 Chinese patents, and over 80 peer-reviewed articles in international journals and conferences. He was the awardee of AIS Expert of Year 2021, DUT Xinghai 1000 Youth Talent program (2018-2020), Best paper award from IFToMM Asian MMS & CCMMS 2016, Academic Awards from Dept. Sci. Tech. Liaoning province, Longcheng Talent program by Changzhou Municipality. He has given over 10 keynote speeches for the international conferences. He is the referee for over 50 international journals and conferences in the fields of mechanisms and robots.