Title :
Control of redundant robots using learned models: An operational space control approach
Author :
Salaün, Camille ; Padois, Vincent ; Sigaud, Olivier
Author_Institution :
Inst. des Syst. Intelligents et de Robot., Univ. Pierre et Marie Curie, Paris, France
Abstract :
We present an adaptive control approach combining forward kinematics model learning methods with the operational space control approach. This combination endows the robot with the ability to realize hierarchically organised learned tasks in parallel, using tasks null space projectors built upon the learned models. We illustrate the proposed method on a simulated 3 degrees of freedom planar robot. This system is used as a benchmark to compare our method to an alternative approach based on learning an extended Jacobian. We show the better versatility of the retained approach with respect to the latter.
Keywords :
adaptive control; mobile robots; redundant manipulators; adaptive control; forward kinematics model learning method; operational space control; planar robot; redundant robot; tasks null space projector; Adaptive control; Context modeling; Humanoid robots; Intelligent robots; Kinematics; Mobile robots; Orbital robotics; Robot control; Robot sensing systems; Service robots;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354438