Recursive Algorithm for Motion Primitive Estimation

摘要：

The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a real-time, low overhead algorithm for identification of future manipulator motions, based on measurements of prior motions and the instantaneous sensed actuator velocity commanded by an operator. Experimental results with a human-controlled, two degreeof- freedom manipulator demonstrate the ability to quickly learn and accurately estimate future manipulator motions.

作者: Aaron R. Enes Wayne J. Book

作者单位: Technical Staff,MIT Lincoln Laboratory HUSCO/Ramirez Distinguished Chair of Fluid Power and Motion Control at Georgia Tech

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 5837-5842

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）