For　those　objects　with　repeated　motion　characteristics　such　as　IC　(integrated　circuit)　packaging,　iterative　learning　control　(ILC)　offers　a　good　scheme　for　achieving　the　positioning　control　of　high　precise　and　high　dynamic　response　by　eliminating　the　effect　of　repetitive　disturbances.　However,　in　actual　production,　the　increasing　improvement　of　IC　chip　integration　level　makes　IC　packaging　technology　tend　to　be　highly　integrated　and　multilead,　every　working　condition　has　to　be　learned　individually,　which　will　seriously　affect　the　learning　efficiency.　Moreover,　the　existed　nonrepetitive　disturbances　reduce　the　effect　of　ILC.　In　order　to　improve　the　learning　efficiency　in　IC　packaging　operations　of　different　pins,　this　paper　proposes　an　iterative　learning　controller　with　wavelet　filtering　method　to　eliminate　the　dependence　of　iterative　learning　feedforward　on　the　initial　positions　of　different　trajectory　conditions.　Through　the　wavelet　analysis　of　the　tracking　errors　with　two　different　starting　points,　corresponding　wavelet　coefficients　are　obtained　separately.　Then　by　means　of　adjusting　the　wavelet　coefficients,　the　nonrepetitive　disturbance　part　related　to　the　positions　are　removed,　thus　acquiring　a　universal　feedforward　sequence　unrelated　to　positions,　which　can　be　used　for　various　trajectory　tracking.　At　last,　the　effectiveness　of　the　proposed　method　has　been　demonstrated　with　the　experimental　results　of　a　voice　coil　motor　actuating　positing　system.　©　2014　IEEE.