Research interests

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My research is focused on robotics in general and industrial robot control in particular. The research is done within the Vinnova Industry Excellence Center LINKSIC.

Completed research

In October 2000 I defended my PhD thesis with the title Iterative Learning Control: Analysis, Design, and Experiments. This work includes design methods for classical ILC, second order ILC and also an adaptive scheme for ILC. See also my list of publications for more information.
My supervisor for the PhD was Prof. Svante Gunnarsson. After the PhD I continued working on different aspects of ILC and I also started working at ABB, first as a consultant and later as an employee (currently I am Principal R&D Engineer in Path planning and motion control at ABB Robotics). One result from my work at ABB is the Motion function QuickMove 2nd generation launched by ABB in 2007.

As one research activity I have also served as supervisor for Johanna Wallén and Patrik Axelsson. Johanna defended her PhD thesis on estimation combined with ILC in February 2011 and Patrik his licentiate thesis on estimation using accelerometer measurements cmbined with advanced models and the (normal) motor angle measurements in December 2011.

Ongoing research

The research work is now mainly focused on supervision of PhD students and Master Students. The research is done within the robotics are of LINKISC and covers modeling, identification, sensor fusion, and control.