Visual trajectory tracking of industrial manipulator with iterative learning control

摘要

Purpose - The purpose of this paper is to propose a more efficient strategy, which is easier to implement, i.e. the engineer can directly operate the target object without the robot to do a demonstration, and the manipulator is regulated to track the trajectory using vision feedback repetitively. Generally, the applications of industrial robotic manipulators are based on teaching playback strategy, i.e. the engineer should directly operate the manipulator to perform a demonstration and then the manipulator uses the recorded driving signals to perform repetitive tasks.