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Recursive Algorithm for Motion Primitive Estimation

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The need for knowing future manipulator motion arises in several robotics applications, including notification or avoidance of imminent collisions and real-time optimization of velocity commands. This paper presents a real-time, low overhead algorithm for identification of future manipulator motions, based on measurements of prior motions and the instantaneous sensed actuator velocity commanded by an operator. Experimental results with a human-controlled, two degree of-freedom manipulator demonstrate the ability to quickly learn and accurately estimate future manipulator motions.

Intelligent Machine Dynamics Laboratory - Intelligent Machine Dynamics Laboratory Publications -

Autor: Enes, Aaron R. - Book, Wayne John - -


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