Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN
 
 
 
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Contact

 

+44 (0)20 7594 6300y.demiris Website

 
 
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Location

 

1014Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Kormushev:2015:10.1109/IROS.2015.7354159,
author = {Kormushev, P and Demiris, Y and Caldwell, DG and Kormushev, P and Demiris, Y and Caldwell, DG},
doi = {10.1109/IROS.2015.7354159},
pages = {5518--5525},
publisher = {IEEE},
title = {Kinematic-free Position Control of a 2-DOF Planar Robot Arm},
url = {http://dx.doi.org/10.1109/IROS.2015.7354159},
year = {2015}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - This paper challenges the well-established as-sumption in robotics that in order to control a robot itis necessary to know its kinematic information, that is, thearrangement of links and joints, the link dimensions and thejoint positions. We propose a kinematic-free robot controlconcept that does not require any prior kinematic knowledge.The concept is based on our hypothesis that it is possible tocontrol a robot without explicitly measuring its joint angles, bymeasuring instead the effects of the actuation on its end-effector.We implement a proof-of-concept encoderless robot con-troller and apply it for the position control of a physical 2-DOF planar robot arm. The prototype controller is able tosuccessfully control the robot to reach a reference position, aswell as to track a continuous reference trajectory. Notably, wedemonstrate how this novel controller can cope with somethingthat traditional control approaches fail to do: adapt to drastickinematic changes such as 100% elongation of a link, 35-degreeangular offset of a joint, and even a complete overhaul of thekinematics involving the addition of new joints and links.
AU - Kormushev,P
AU - Demiris,Y
AU - Caldwell,DG
AU - Kormushev,P
AU - Demiris,Y
AU - Caldwell,DG
DO - 10.1109/IROS.2015.7354159
EP - 5525
PB - IEEE
PY - 2015///
SN - 2153-0858
SP - 5518
TI - Kinematic-free Position Control of a 2-DOF Planar Robot Arm
UR - http://dx.doi.org/10.1109/IROS.2015.7354159
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000371885405095&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - http://kormushev.com/papers/Kormushev_IROS-2015.pdf
UR - http://hdl.handle.net/10044/1/26176
ER -