Measuring and modelling delays in robot manipulators for temporally precise control using machine learning

Thomas Timm Andersen, Hani Ben Amor, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Latencies and delays play an important role in temporally precise robot control. During dynamic tasks in particular, a robot has to account for inherent delays to reach manipulated objects in time. The different types of occurring delays are typically convoluted and thereby hard to measure and separate. In this paper, we present a data-driven methodology for separating and modelling inherent delays during robot control. We show how both actuation and response delays can be modelled using modern machine learning methods. The resulting models can be used to predict the delays as well as the uncertainty of the prediction. Experiments on two widely used robot platforms show significant actuation and response delays in standard control loops. Predictive models can, therefore, be used to reason about expected delays and improve temporal accuracy during control. The approach can easily be used on different robot platforms.

Original languageEnglish (US)
Title of host publicationProceedings - 2015 IEEE 14th International Conference on Machine Learning and Applications, ICMLA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages168-175
Number of pages8
ISBN (Print)9781509002870
DOIs
StatePublished - Mar 2 2016
Externally publishedYes
EventIEEE 14th International Conference on Machine Learning and Applications, ICMLA 2015 - Miami, United States
Duration: Dec 9 2015Dec 11 2015

Other

OtherIEEE 14th International Conference on Machine Learning and Applications, ICMLA 2015
CountryUnited States
CityMiami
Period12/9/1512/11/15

Keywords

  • Automation
  • Machine learning algorithms
  • Robot control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications

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  • Cite this

    Andersen, T. T., Ben Amor, H., Andersen, N. A., & Ravn, O. (2016). Measuring and modelling delays in robot manipulators for temporally precise control using machine learning. In Proceedings - 2015 IEEE 14th International Conference on Machine Learning and Applications, ICMLA 2015 (pp. 168-175). [7424304] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMLA.2015.98