Accurate Robot Positioning using Corrective Learning Ram Subramanian ECE 539 Course Project Fall 2003 Outline Motivation Two Link Manipulators Kinematics Corrective Learning Experimental Setup Results & Conclusion Motivation
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The human motor control mechanism works by initiating a motion in the general direction of the target. Then subsequently produces corrective movements to reach the target with a good degree of accuracy.
The forward kinematics of a robot are used to determine the position of the end effecter for a given set of joint angles
The Inverse kinematics are used to determine appropriate joint angles for a particular end effecter position.
Mapping from Cartesian space of the end effecter to the joint angles of the robot is
(leading to multiple solutions)
This causes complications when controlling the manipulator. Modeling other parameters like friction etc. increases the non linearity of the system further
The Learning Process
Once the joint angles corresponding to a particular target position is learned, subsequent visits to the same target point use the already learned values.
This technique allows the positioning of the robot without accurate knowledge of all the link parameters