Convergence of Dynamical Movement Primitives with Temporal Coupling
(2018) 2018 European Control Conference p.32-39- Abstract
- In this paper, it is shown that temporally coupled dynamical movement primitives (DMPs), used to model and execute robot movements, are globally exponentially stable. It follows that DMPs converge to their goal configurations, which is necessary to accomplish most tasks. The convergence is proven mathematically, and then verified in simulations as well as experimentally on an industrial robot.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/62007e2d-cfc8-4afd-9661-a34e4c386ff5
- author
- Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU
- organization
- publishing date
- 2018
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2018 European Control Conference (ECC)
- article number
- 8550135
- pages
- 32 - 39
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2018 European Control Conference
- conference location
- Limassol, Cyprus
- conference dates
- 2018-06-12 - 2018-06-15
- external identifiers
-
- scopus:85059822978
- ISBN
- 978-395242698-2
- DOI
- 10.23919/ECC.2018.8550135
- project
- RobotLab LTH
- SARAFun—Smart Assembly Robot with Advanced FUNctionalities
- language
- English
- LU publication?
- yes
- id
- 62007e2d-cfc8-4afd-9661-a34e4c386ff5
- date added to LUP
- 2018-03-13 09:21:16
- date last changed
- 2024-04-15 03:40:27
@inproceedings{62007e2d-cfc8-4afd-9661-a34e4c386ff5, abstract = {{In this paper, it is shown that temporally coupled dynamical movement primitives (DMPs), used to model and execute robot movements, are globally exponentially stable. It follows that DMPs converge to their goal configurations, which is necessary to accomplish most tasks. The convergence is proven mathematically, and then verified in simulations as well as experimentally on an industrial robot.}}, author = {{Karlsson, Martin and Robertsson, Anders and Johansson, Rolf}}, booktitle = {{2018 European Control Conference (ECC)}}, isbn = {{978-395242698-2}}, language = {{eng}}, pages = {{32--39}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Convergence of Dynamical Movement Primitives with Temporal Coupling}}, url = {{https://lup.lub.lu.se/search/files/39961085/karlsson2018convergence.pdf}}, doi = {{10.23919/ECC.2018.8550135}}, year = {{2018}}, }