Event
Proposes a feedforward payload generalization method for rigid and elastic-joint robots
1 reports · 1 sources
An arXiv cs.RO paper proposes a general method for generalizing feedforward control actions to payload parameters, applicable to rigid and elastic-joint robots. The method is independent of the underlying controller and requires only the parameters of the new payload to execute the same trajectory without knowing the robot dynamics model, even in the presence of elastic joints.
Report timeline
- Feedforward payload generalization method for trajectory tracking in robots with rigid and elastic joints
This paper proposes a new method for generalizing feedforward control actions with respect to payload parameters, independent of the underlying controller; given only the parameters of a new payload, it can execute the same trajectory without knowledge of the robot's dynamic model and even in the presence of elastic joints.
arXiv cs.RO ·