Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †

Hybrid Analytical and Data-Driven Modeling for Feed-Forward Robot Control †

Feed-forward model-based control relies on models of the controlled plant, e.g., in robotics on accurate knowledge of manipulator kinematics or dynamics. However, mechanical and analytical models do not capture all aspects of a plant’s intrinsic properties and there remain unmodeled dynamics due to...

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Bibliographic Details
Main Authors: René Felix Reinhart, Zeeshan Shareef, Jochen Jakob Steil
Format: Article
Language:English
Published: MDPI AG 2017-02-01
Series:Sensors
Subjects:
machine learning
data-driven modeling
mechanical modeling
error models
inverse kinematics
inverse dynamics
learning feed-forward control
soft robot
Online Access:http://www.mdpi.com/1424-8220/17/2/311

Internet

http://www.mdpi.com/1424-8220/17/2/311

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