Iterative learning explicit hybrid force/velocity control for contour tracking

In this paper we propose an Iterative Learning Control (ILC) algorithm for the contour tracking of unknown planar objects performed by an industrial SCARA robot manipulator with an explicit hybrid force/velocity controller. Conversely to the typical applications of ILC, the employed control law does not include a time-based reference position signal (and a position control loop) and therefore a different approach has been developed in order to exploit the repetitive nature of the task. Design choices are described in this context and experimental results show the effectiveness of the technique.