Robot visual servoing with iterative learning control

This paper presents an iterative learning scheme for visionguided robot trajectory tracking. At 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 (3-D) trajectory tracking system with a single static camera to realize robot movement imitation is presented based on this criterion.