Imperial College London

Professor Yiannis Demiris

Faculty of EngineeringDepartment of Electrical and Electronic Engineering

Professor of Human-Centred Robotics, Head of ISN



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




1014Electrical EngineeringSouth Kensington Campus






BibTex format

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 = {},
year = {2015}

RIS format (EndNote, RefMan)

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
PY - 2015///
SN - 2153-0858
SP - 5518
TI - Kinematic-free Position Control of a 2-DOF Planar Robot Arm
UR -
UR -
UR -
UR -
ER -