An iterative learning control algorithm for contour tracking of unknown objects

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