文章基本信息

标题：Two-Degree-of-Freedom Control for Trajectory Tracking and Perturbation Recovery during Execution of Dynamical Movement Primitives
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作者：Martin Karlsson ; Fredrik Bagge Carlson ; Anders Robertsson 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1923-1930
DOI：10.1016/j.ifacol.2017.08.383
语种：English
出版社：Elsevier
摘要：AbstractModeling 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.