Control of redundant robots using learned models: an operational space control approach

Authors:
Camille Salaün;Vincent Padois;Olivier Sigaud
Affiliations:
Université Pierre et Marie Curie, Institut des Systèmes Intelligents et de Robotique, CNRS UMR, Paris CEDEX 5, France;Université Pierre et Marie Curie, Institut des Systèmes Intelligents et de Robotique, CNRS UMR, Paris CEDEX 5, France;Université Pierre et Marie Curie, Institut des Systèmes Intelligents et de Robotique, CNRS UMR, Paris CEDEX 5, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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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.