On-line Dynamic Model Learning for Manipulator Control
نویسندگان
چکیده
منابع مشابه
On-Line Dynamic Model Learning for Manipulator Control
This paper proposes an approach for online learning of the dynamic model of a robot manipulator. The dynamic model is formulated as a weighted sum of locally linear models, and Locally Weighted Projection Regression (LWPR) is used to learn the models based on training data obtained during operation. The LWPR model can be initialized with partial knowledge of rigid body parameters to improve the...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2012
ISSN: 1474-6670
DOI: 10.3182/20120905-3-hr-2030.00149