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Robot visual servoing with iterative learning control

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2 Author(s)
Jiang, P. ; Dept. of Inf. & Control Eng., Tongji Univ., Shanghai, China ; Unbehauen, R.

This paper presents an iterative learning scheme for vision-guided robot trajectory tracking. First, a stability criterion for designing iterative learning controller is proposed. It can be used for a system with initial resetting error. By using the criterion, one can convert the design problem into finding a positive definite discrete matrix kernel and a more general form of learning control can be obtained. Then, a three-dimensional (3D) trajectory tracking system with a single static camera to realize robot movement imitation is presented based on this criterion.

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Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Transactions on  (Volume:32 ,  Issue: 2 )