Abstract
Aiming to improve positioning precision of stop posture (position and orientation) of an object and decrease trial numbers in our proposed releasing manipulation, two iterative learning control (ILC) schemes, learning control based on convergent condition (LCBCC), and learning control based on optimal principle (LCBOP) are designed in an experimental-oriented way. The experimental results show that these methods are effective. By discussing the characteristics of these control methods, we conclude that when there is no enough system knowledge, LCBCC is the only choice and to be used to learn system knowledge; after enough experience has been acquired, LCBOP is better than LCBCC in the view of precision.
