Title:
Recursive Algorithm for Motion Primitive Estimation
Recursive Algorithm for Motion Primitive Estimation
Author(s)
Enes, Aaron R.
Book, Wayne J.
Book, Wayne J.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a real-time, low overhead algorithm for identification of future manipulator motions, based on measurements of prior motions and the instantaneous sensed actuator velocity commanded by an operator. Experimental results with a human-controlled, two degree of-freedom manipulator demonstrate the ability to quickly learn and accurately estimate future manipulator motions.
Sponsor
Date Issued
2011-05
Extent
Resource Type
Text
Resource Subtype
Proceedings
Post-print
Post-print