A modified cartesian space DMPs model for robot motion generation
文献类型：会议论文
| 作者 | Liu NL(刘乃龙)1,2,3 ; Cui L(崔龙)2,3; Liu ZM(刘钊铭)1,2,3
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| 出版日期 | 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
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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