A time-scale interpolation for input torque patterns obtained through learning control on constrained robot motions

A time-scale interpolation for feedforward input torques of robot manipulators is proposed. In the proposed method, by interpolating input torque patterns obtained through learning control, another desired motion with a different time-scale or a different speed pattern can be precisely realized without the use of iterative operation for learning control. In simulation and experimental results, it is confirmed that an input torque pattern with arbitrary time-scale can be interpolated from four input torque patterns which have different time-scales.