Control of redundant robots using learned models: An operational space control approach
Year: 2009
Type: conference-paper
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.
Authors: Camille Salaun, Vincent Padois, Olivier Sigaud
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2146902249