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Paper FrC6.1

Lin, Hsien-I (Purdue University), Lee, C. S. George (Purdue University)

Speed-Accuracy Optimization for Skill Learning

Scheduled for presentation during the Regular Sessions "Learning and Adaptive Systems - III" (FrC6), Friday, May 15, 2009, 13:30−13:50, Room: 404

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Learning and Adaptive Systems

Abstract

Robot motor capability is crucial for skill learning because it determines how accurately and rapidly a robot can perform a skill to accomplish a task constrained by the spatial and temporal conditions. Due to the capability of robot motor, a robot may not be able to perform skills to satisfy both task spatial and temporal constraints. To determine the robot motor capability, this paper formulates the skill for accomplishing a task as an optimization problem subject to the spatial and temporal conditions of the task, and proposes to develop a speed-accuracy constraint suitable for the optimization problem. The proposed speed-accuracy constraint is derived from the kinematics, dynamics, and control of a robot motor system. By solving the optimization problem, a robot can perform the skill to achieve a task by its fastest speed without violating the spatial and temporal conditions of the task. Computer simulations were performed on a PUMA 560 robot to demonstrate a skill on a typical task to validate the proposed speed-accuracy optimization.

 

 

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