Kinematic-free Position Control of a 2-DOF Planar Robot Arm
File(s)
Accepted version
Author(s)
Kormushev, Petar
Demiris, Yiannis
Caldwell, Darwin G
Type
Conference Paper
Abstract
This paper challenges the well-established as- sumption 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 con- troller 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.
Date Issued
2015-09
Date Acceptance
2015-06-29
Citation
Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), 2015
Publisher
IEEE
Start Page
5518
End Page
5525
Journal / Book Title
Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015)
Copyright Statement
© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://kormushev.com/papers/Kormushev_IROS-2015.pdf
Source
ICRA 2015
Subjects
Science & Technology
Technology
Computer Science, Artificial Intelligence
Robotics
Computer Science
Injection
Machines
Speed
Publication Status
Published
Start Date
2015-09-28
Finish Date
2015-10-02
Coverage Spatial
Hamburg, Germany