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.

The paper investigates the decoupling of an explicit hybrid force/velocity control of robot manipulators employed in the contour tracking task of objects of unknown shape taking into account the elastic model of the contact and of the robot. The proposed controller allows the achievement of the decoupling of the normal force and tangential velocity control loops and can be expressed as a multi-input multi-output (MIMO) time-varying proportional-integral-derivative (PID) controller. Experimental results demonstrate the effectiveness of the method.

In this paper we propose a new method, based on an iterative learning control (ILC) algorithm, for the contour tracking of a planar object of unknown shape performed by an industrial SCARA robot manipulator. In particular, we adopt a hybrid force/velocity controller whose performance is improved by repeating the task. Differently from the typical applications of ILC, here a reference position signal is not present and therefore a new approach has been developed. Experimental results show the effectiveness of the technique