NDLI: Basis-motion torque composition approach: Generation of motions with different velocity profiles among joints

Content Provider	IEEE Xplore Digital Library
Author	Sekimoto, M. Kawamura, S. Ishitsubo, T.
Copyright Year	2010
Description	Author affiliation: Department of Robotics, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga 525-8577, Japan (Kawamura, S.; Ishitsubo, T.) \|\| Graduate School of Science and Engineering for Research, University of Toyama, 3190 Gofuku, 930-8555, Japan (Sekimoto, M.)
Abstract	The basis-motion torque composition (BMC), which generates feedforward torque for precise joint-trajectory tracking of a multi-joint robot arm, has been recently suggested. It is based on four arithmetical operations of time-series torque data of several motions preliminarily obtained by the iterative learning control. The remarkable advantage of BMC is to generate desired feedforward torque without prior information of dynamics parameters. However, the class of torque generated by the BMC has been restricted. The paper presents an enhanced BMC which permits generation of motions with different motion-velocity profiles among joints of a multi-joint robot. The algorithm is presented and the validity of algorithm is confirmed through numerical simulations in the case of a two-joint robot arm under the influence of gravity. Furthermore, a class of applicable systems of BMC approach is discussed.
Starting Page	670
Ending Page	676
File Size	1182747
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5649129
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Feedforward neural networks Joints Robots Dynamics Trajectory Force
Content Type	Text
Resource Type	Article

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