Motion tracking in robotic manipulators in presence of delay in measurements

Bahrami, Somayeh; Namvar, Mehrzad

doi:10.1109/robot.2010.5509289

Cited by 3 publications

(3 citation statements)

References 21 publications

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“…Similarly, delays in proprioception can produce instabilities during dynamic motion generation. In [2], a dynamically smooth controller has been proposed that can deal with delay in proprioceptive readings. However, the approach assumes constant and known time-delay.…”

Section: Related Workmentioning

confidence: 99%

Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control Using Machine Learning

Andersen¹,

Amor

Andersen³

et al. 2015

2015 IEEE 14th International Conference on Machine Learning and Applications (ICMLA)

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Abstract-Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well as the uncertainty of the prediction. Experiments on two widely used robot platforms show significant actuation and response delays in standard control loops. Predictive models can, therefore, be used to reason about expected delays and improve temporal accuracy during control. The approach can easily be used on different robot platforms.

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Section: Related Workmentioning

confidence: 99%

Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control Using Machine Learning

Andersen¹,

Amor

Andersen³

et al. 2015

2015 IEEE 14th International Conference on Machine Learning and Applications (ICMLA)

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“…The use of the coordinate transformation introduced in [3] is extended in [5] where an adaptive tracking controller taking actuator dynamics into account is developed. In [4] a globally convergent velocity estimator is presented, and tracking control with sensor delay is considered in [16].…”

Section: A Diagonalizing Change Of Coordinatesmentioning

confidence: 99%

“…The force mapping between the canonical model (1) is also different from the generalized Jacobian which appears in (53). It is for these reasons not clear whether or not the results produced in [3], [5], [4], [16] will extend to general manipulators. This open-question is beyond the scope of this paper and is left as future work.…”

Section: A General Non-minimal System Representationmentioning

confidence: 99%

A new Coriolis matrix factorization

Bjerkeng

Pettersen

2012

2012 IEEE International Conference on Robotics and Automation

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This paper presents a novel Coriolis/centripetal matrix factorization applicable to serial link rigid manipulators. The computationally efficient Coriolis matrix factorization is explicitly given as a function of the robot's kinematic matrices and their time derivatives which are easily obtained using the Denavit-Hartenberg-convention. The factorization is different from the popular Christoffel symbol representation, but the important skew-symmetry property is preserved. The proposed factorization is used to determine the class of manipulators for which a particular non-minimal representation of the manipulator dynamics exists.

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A decentralized robust nonlinear control approach for DC microgrids with multi-level boost converters considering saturated duty cycle

Safaei¹,

Bahrami

2023

Int. J. Dynam. Control

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Motion tracking in robotic manipulators in presence of delay in measurements

Cited by 3 publications

References 21 publications

Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control Using Machine Learning

Measuring and Modelling Delays in Robot Manipulators for Temporally Precise Control Using Machine Learning

A new Coriolis matrix factorization

A decentralized robust nonlinear control approach for DC microgrids with multi-level boost converters considering saturated duty cycle

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