Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

Martin Karlsson; Fredrik Bagge Carlson; Anders Robertsson; Rolf Johansson

doi:10.1016/j.ifacol.2017.08.383

Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

Martin Karlsson, Fredrik Bagge Carlson, Anders Robertsson, Rolf Johansson

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Abstract

Modeling of robot motion as dynamical movement primitives (DMPs) has become
an important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.

Original language	English
Pages (from-to)	1923-1930
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.383
Publication status	Published - 2017 Jul 10
Event	20th IFAC World Congress, 2017 - Toulouse, France Duration: 2017 Jul 9 → 2017 Jul 14 https://www.ifac2017.org/

Subject classification (UKÄ)

Control Engineering

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10.1016/j.ifacol.2017.08.383

IFAC17_1483_FIAccepted author manuscript, 1.52 MB

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title = "Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives",

abstract = "Modeling of robot motion as dynamical movement primitives (DMPs) has becomean important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.",

author = "Martin Karlsson and {Bagge Carlson}, Fredrik and Anders Robertsson and Rolf Johansson",

year = "2017",

month = jul,

day = "10",

doi = "10.1016/j.ifacol.2017.08.383",

language = "English",

volume = "50",

pages = "1923--1930",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

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TY - JOUR

T1 - Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

AU - Karlsson, Martin

AU - Bagge Carlson, Fredrik

AU - Robertsson, Anders

AU - Johansson, Rolf

PY - 2017/7/10

Y1 - 2017/7/10

N2 - Modeling of robot motion as dynamical movement primitives (DMPs) has becomean important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.

AB - Modeling of robot motion as dynamical movement primitives (DMPs) has becomean important framework within robot learning and control. The ability of DMPs to adapt online with respect to the surroundings, e.g., to moving targets, has been used and developed by several researchers. In this work, a method for handling perturbations during execution of DMPs on robots was developed. Two-degree-of-freedom control was introduced in the DMP context, for reference trajectory tracking and perturbation recovery. Benefits compared to the state of the art were demonstrated. The functionality of the method was verified in simulations and in real-world experiments.

U2 - 10.1016/j.ifacol.2017.08.383

DO - 10.1016/j.ifacol.2017.08.383

M3 - Article

SN - 2405-8963

VL - 50

SP - 1923

EP - 1930

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 1

T2 - 20th IFAC World Congress, 2017

Y2 - 9 July 2017 through 14 July 2017

ER -

Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

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Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives

Abstract

Subject classification (UKÄ)

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RobotLab LTH

SARAFun: SARAFun—Smart Assembly Robot with Advanced FUNctionalities

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