After the previous running trajectory ends, another trajectory is executed in the middle, and then the next repeated trajectory is executed. For example: the robot end from point a to point b is the repeated trajectory of iterative learning, but returning from point b to point a is a free motion trajectory and is also the process of locating the initial point of point a (the starting position of the next iteration), and the next iteration starts from a Click to start.
Dear George Duan
In this paper, three control methods—iterative learning control (ILC), repetitive control (RC), and run-to-run control (R2R)—are studied and compared. Some mathematical transformations allow ILC, RC, and R2R to be described in a uniform framework that highlights their similarities. These methods, which play an important role in controlling repetitive processes and run-based processes, are collectively referred to as learning-type control in this paper. According to the classification adopted in this paper, learning-type control has two classes—direct form and indirect form. The main ideas and designing procedures for these two patterns are introduced, separately. Approximately 400 papers related to learning-type control are categorized. Statistical analysis of the resulting data reveals some promising fields for learning-type control. Finally, a flowchart based on the unique features of the different methods is presented as a guideline for choosing an appropriate learning-type control for different problems.
Survey on iterative learning control, repetitive control, and run ...
https://www.researchgate.net
Yes, repetitive actions to control iterative learning can be carried out intermittently and separately but under specific conditions
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