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Convergence of Dynamical Movement Primitives with Temporal Coupling

Karlsson, Martin LU ; Robertsson, Anders LU and Johansson, Rolf LU (2018) 2018 European Control Conference In 2018 European Control Conference (ECC)
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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
in press
subject
in
2018 European Control Conference (ECC)
pages
8 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2018 European Control Conference
language
English
LU publication?
yes
id
62007e2d-cfc8-4afd-9661-a34e4c386ff5
date added to LUP
2018-03-13 09:21:16
date last changed
2018-05-29 09:40:16
@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)},
  language     = {eng},
  month        = {06},
  pages        = {8},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Convergence of Dynamical Movement Primitives with Temporal Coupling},
  year         = {2018},
}