Suboptimal robot motion control for unexperienced situations through intelligent composite motion control

The intelligent composite motion control (ICMC) is a method for realizing dexterous robot motions by parameter optimization and utilization of experiential knowledge obtained through the optimization. It is shown how the experiential knowledge is stored and how suboptimal motion control for unexperienced situations are realized by use of the stored knowledge. As an example, the method is applied to the optimal handling problem of flexible plates, and the effectiveness of the method is verified.