IROS 2015 Paper Abstract


Paper ThDT4.3

Kormushev, Petar (Imperial College London), Demiris, Yiannis (Imperial College London), Caldwell, Darwin G. (Istituto Italiano di Tecnologia)

Kinematic-free Position Control of a 2-DOF Planar Robot Arm

Scheduled for presentation during the Regular session "Motion Planning for Manipulators" (ThDT4), Thursday, October 1, 2015, 14:30−14:45, Saal C1+C2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Motion Control, Learning Control


This paper challenges the well-established assumption in robotics that in order to control a robot it is necessary to know its kinematic information, that is, the arrangement of links and joints, the link dimensions and the joint positions. We propose a kinematic-free robot control concept that does not require any prior kinematic knowledge. The concept is based on our hypothesis that it is possible to control a robot without explicitly measuring its joint angles, by measuring instead the effects of the actuation on its end-effector. We implement a proof-of-concept encoderless robot controller and apply it for the position control of a physical 2-DOF planar robot arm. The prototype controller is able to successfully control the robot to reach a reference position, as well as to track a continuous reference trajectory. Notably, we demonstrate how this novel controller can cope with something that traditional control approaches fail to do: adapt to drastic kinematic changes such as 100% elongation of a link, 35-degree angular offset of a joint, and even a complete overhaul of the kinematics involving the addition of new joints and links.



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