Kinematic-free Robot Control

Kinematic-free robot control (a.k.a. model-free control) is an alternative approach to controlling robots without using explicitly a kinematic mathematical model of the robot. Such approaches work without the need of forward or inverse kinematic calculations, and are suitable for applications where either no such simple mathematical models exist, or they do but for some reason we do not wish to use them (e.g. fault recovery, increased design freedom, etc.).

Encoderless Position Control of a Two-Link Robot Manipulator

Encoderless Position Control of a Two-Link Robot ManipulatorPlay video
Encoderless Position Control of a Two-Link Robot Manipulator.

Kinematic-free Position Control of a Robot Arm

Kinematic-free Position Control of a Robot Arm. A novel concept for position control of a robot arm based on encoderless robot controller that does not rely on any joint angle sensing.Play video
Kinematic-free Position Control of a Robot Arm. A novel concept for position control of a robot arm based on encoderless robot controller that does not rely on any joint angle sensing.

Publications

  1. Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Kinematic-free Position Control of a 2-DOF Planar Robot Arm", In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.
  2. Petar Kormushev, Yiannis Demiris, Darwin G. Caldwell, "Encoderless Position Control of a Two-Link Robot Manipulator", In Proc. IEEE Intl Conf. on Robotics and Automation (ICRA 2015), Seattle, USA, 2015. (Best Paper Award finalist)