A modified cartesian space DMPs model for robot motion generation

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A modified cartesian space DMPs model for robot motion generation
	Liu NL(刘乃龙)1,2,3 ; Cui L(崔龙)2,3 ; Liu ZM(刘钊铭)1,2,3
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
关键词	Dynamic movement primitives DMPs Robot learning Learning from demonstration
页码	76-85
英文摘要	DMPs (dynamic movement primitives) are a method to generate trajectory planning or control signal for complex robot movements. Each DMP is a nonlinear dynamical system which can be used as a primitive action for complex movements. The origin DMPs are used to model the robot joint space motion, however in many cases, robot motions are defined in Cartesian space, the model of Cartesian space is necessary. A Cartesian space DMPs variant is proposed which adds a dynamical quaternions goal subsystem to make the generated cartesian space twist more smooth and steady in the initial stage in this paper. This DMPs variant can be useful in some robot tasks which often require low speed operations, such as contact operation. © Springer Nature Switzerland AG 2019.
产权排序	1
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27528-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25503]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Liu NL(刘乃龙)
作者单位	1.University of Chinese Academy of Sciences (CAS), Beijing 100049, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences (CAS), Shenyang 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Shenyang 110016, China
推荐引用方式 GB/T 7714	Liu NL,Cui L,Liu ZM. A modified cartesian space DMPs model for robot motion generation[C]. 见:. Shenyang, China. August 8-11, 2019.