19-01-2013, 04:09 PM
Joining Movement Sequences
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ABSTRACT
The generation of complex movement patterns, in particular, in cases where one needs to smoothly and accurately
join trajectories in a dynamic way, is an important problem in robotics. This paper presents a novel joining method that is based on the modification of the original dynamic movement primitive formulation. The new method can reproduce the target trajectory with high accuracy regarding both the position and the velocity profile and produces smooth and natural transitions in position space, as well as in velocity space. The properties of the method are
demonstrated by its application to simulated handwriting generation, which are also shown on a robot, where an adaptive algorithm is used to learn trajectories from human demonstration. These results demonstrate that the new method is a feasible alternative for joining of movement sequences, which has a high potential for all robotics applications where trajectory joining is required.
INTRODUCTION
Humans are able to perform complex movement sequences,
e.g., in a manual construction task, in a highly elegant and dynamic
fashion. Robots begin to become as dexterous, too. However,
the problem to accurately combine trajectories and control
position and velocity, which exists in many dexterous robotics
applications still leaves many questions open, in particular, when
onewants to do this in a dynamic and perturbation-resistantway.
We use human handwriting as our test bed. Although in handwriting
accuracy at the joining point might not be so important
because of “co-articulation,” i.e., the next letter is started before
the previous one is not completely finished, we have nonetheless
chosen it as a useful and complex example. Consider, e.g.,
signatures.
Existing Technology:
• Voice Based Robotics Movement
• Mobile Control Robotics Device using GPRS,GSM Technology
• Online and Offline Signature Verification application s for Banking Sector
Proposed Work:
• Fast movement Control, user friendly control system
• Live Signature Input through Tablet PC Kit
• A novel method for DMP joining, which can solve this problem and lead to natural and smooth transitions
• Dynamic motion control in robotics requires the accurate production of trajectories and control their dynamic parameters