Robustness to joint-torque-tracking errors in task-space inverse dynamics
نویسندگان
چکیده
منابع مشابه
Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics
Task-Space Inverse Dynamics (TSID) is a wellknown optimization-based technique for the control of highlyredundant mechanical systems, such as humanoid robots. One of its main flaws is that it does not take into account any of the uncertainties affecting these systems: poor torque tracking, sensor noises, delays and model uncertainties. As a consequence, the resulting control trajectories may be...
متن کاملTask Space Retrieval Using Inverse Feedback Control
Learning complex skills by repeating and generalizing expert behavior is a fundamental problem in robotics. A common approach is learning from demonstration: given examples of correct motions, learn a policy mapping state to action consistent with the training data. However, the usual approaches do not answer the question of what are appropriate representations to generate motions for specific ...
متن کاملAccurate Task-Space Tracking for Humanoids with Modeling Errors Using Iterative Learning Control
Precise task-space tracking with manipulator-type systems requires an accurate kinematic model. In contrast to traditional manipulators, sometimes it is difficult to obtain an accurate kinematic model of humanoid robots due to complex structure and link flexibility. Also, prolonged use of the robot will lead to some parts wearing out or being replaced with a slightly different alignment, thus t...
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملRobust Fractional Order Control of Under-actuated Electromechanical System
This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2016
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2016.2593027