Iterative-Learning Hybrid Force/Velocity Control for Contour Tracking

作者：Visioli Antonio^*; Ziliani Giacomo; Legnani Giovanni

来源：IEEE Transactions on Robotics, 2010, 26(2): 388-393.

DOI：10.1109/TRO.2010.2041265

• Contour tracking
• hybrid force/velocity control
• industrial robot manipulators
• iterative-learning control (ILC)

In this paper, we propose a new method, which is based on an iterative-learning-control (ILC) algorithm, for the contour tracking of an object of unknown shape performed by an industrial robot manipulator. In particular, we consider (both implicit and explicit) hybrid force/velocity control whose performance is improved by repeating the task. Here, a time-based reference signal is not present, and therefore, a new approach has been developed, which is different from the typical applications of ILC. Experimental results show the effectiveness of the technique.

• 出版日期2010-4