Motion-Reproduction Method with Variable Reproduction Speed by Iterative Learning Control

This paper proposes a motion-reproduction method based on an iterative learning control (ILC) for variable reproduction speed. The motion-copying system consists of a motion-saving phase and a motion-reproduction phase. The motion-saving phase extracts the position and force information of an operator by a bilateral control. In the motion-reproduction phase, human motion is reproduced by using the extracted motion data as command values. This paper proposes the modification method of the reproduction speed during the motion-reproduction phase. When the reproduction speed is variable, the reproduction accuracy decreases due to the position and force errors. To address this issue, this paper uses an ILC during the motion-reproduction phase. The ILC modifies the position and force commands based on the extracted motion data. This paper focuses on character writing motion with a brush pen by a robot. The validity of the proposed method was demonstrated by experimental results.