Kinematic-free position control of a 2-DOF planar robot arm

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Title: Kinematic-free position control of a 2-DOF planar robot arm
Author(s): Kormushev, P
Demiris, Y
Caldwell, DG
Item 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.
Publication Date: 30-Sep-2015
Date of Acceptance: 29-Jun-2015
URI: http://hdl.handle.net/10044/1/26176
DOI: https://dx.doi.org/10.1109/IROS.2015.7354159
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.
Conference Name: ICRA 2015
Keywords: 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
Conference Place: Hamburg, Germany
Open Access location: http://kormushev.com/papers/Kormushev_IROS-2015.pdf
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering
Dyson School of Design Engineering



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