Visual feedback arm robot based on iterative learning control using repetitive control optimization

摘要

This paper introduces a use of iterative learning control to improve a performance of arm robot in repeatable task. Iterative learning control aims to converge the repeating distance error produced from arm robot by adjusting the control input in the current run to feedback control system based on error observed from the previous run. The feedback signal to the system is experimentally obtained from the two hardware devices: encoder and Webcam. Performance of robot using the two types of feedback signal is discussed in detail. Simple learning control law is first applied to the system and a more complicated control law designed from optimization in the similar field is later used.