Planning and Control of Robot Motion based on Time-Scale Transformation and Iterative Learning Control

  • Sadao Kawamura
  • Norihisa Fukao
  • Hiroaki Ichii


Usefulness of time-scale transformation and iterative learning control for nonlinear complex dyanamics is presented in this paper. In the proposed method in this paper, ideal feedforward input patterns obtained through iterative learning control can be transformed to another ideal feedforward input patterns by using time-scale changing. This method is useful when a robot has contact with mechanical environment which has nonlinear impedance or complicated dynamics. Moreover, it is claimed that the proposed method is applied to optimal control without parameter estimation Finally, we propose a motion planning method based on time-scale transformation and iterative learning control to realize desired force patterns between a robot and mechanical enviroment with nonlinear impedance.


Robot Motion Learning Control Mechanical Environment Iterative Learning Control Input Torque 
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Copyright information

© Springer-Verlag London 2000

Authors and Affiliations

  • Sadao Kawamura
    • 1
  • Norihisa Fukao
    • 2
  • Hiroaki Ichii
    • 3
  1. 1.Ritsumeikan UnivDept. of RoboticsKusatsu,ShigaJapan
  2. 2.IRCSKurita, ShigaJapan
  3. 3.NNCTDept. of ControlYamatokoriyama,NaraJapan

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