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General robot kinematics decomposition without intermediate markers
Ulbrich, Stefan; Ruiz de Angulo García, Vicente; Asfour, Tamim; Torras, Carme; Dillmann, Rüdiger
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
The calibration of serial manipulators with high numbers of degrees of freedom by means of machine learning is a complex and time-consuming task. With the help of a simple strategy, this complexity can be drastically reduced and the speed of the learning procedure can be increased: When the robot is virtually divided into shorter kinematic chains, these subchains can be learned separately and, hence, much more efficiently than the complete kinematics. Such decompositions, however, require either the possibility to capture the poses of all endeffectors of all subchains at the same time, or they are limited to robots that fulfill special constraints. In this work, an alternative decomposition is presented that does not suffer from these limitations. An offline training algorithm is provided in which the composite subchains are learned sequentially with dedicated movements. A second training scheme is provided to train composite chains simultaneously and online. Both schemes can be used together with many machine learning algorithms. In the simulations, an algorithm using Parameterized Self-Organizing Maps (PSOM) modified for online learning and Gaussian Mixture Models (GMM) were chosen to show the correctness of the approach. The experimental results show that, using a two-fold decomposition, the number of samples required to reach a given precision
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial::Aprenentatge automàtic
Machine learning
learning (artificial intelligence) robot kinematics robots PARAULES AUTOR: KB-maps
Aprenentatge automàtic
Classificació INSPEC::Cybernetics::Artificial intelligence::Learning (artificial intelligence)
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
info:eu-repo/semantics/submittedVersion
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