Kinesthetic teaching via Fast Marching Square
Kinesthetic teaching via Fast Marching Square
复制标题
快行广场动觉教学
DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
L. Moreno
中科院分区：
文献类型：
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作者：
Javier V. Gómez;David Álvarez;S. Garrido;L. Moreno
本文提出了一种新的机器人学习技术的基础上快速行军广场（FM 2）。这种方法，我们称之为FM学习，是基于将以前的经验结合到机器人的路径规划系统中，通过考虑通过动觉教学教给机器人的路径，也就是手动引导机器人通过期望的路径。所提出的方法确保路径规划在目标点总是全局渐近稳定的系统，将运动视为非线性自治动力系统。该算法具有的几个参数可以被调整以获得学习系统的不同行为。该方法已被评估，通过一组模拟，并在移动的机械手曼弗雷德V2测试。
This paper presents a novel robotic learning technique based on Fast Marching Square (FM2). This method, which we have called FM Learning, is based on incorporating previous experience to the path planning system of the robot by taking into account paths taught to the robot via kinesthetic teaching, this is, guiding manually the robot through the desired path. The method proposed ensures that the path planning is always a globally asymptotically stable system at the target point, considering the motion as a nonlinear autonomous dynamical system. The few parameters the algorithm has can be tuned to get different behaviours of the learning system. The method has been evaluated through a set of simulations and also tested in the mobile manipulator Manfred V2.