Speed-accuracy optimization for skill learning

• Published in: 2009 IEEE International Conference on Robotics and Automation pp. 2506 - 2511
• Main Authors: Hsien-I Lin, Lee, C.S.G.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2009
• Subjects: Computer simulation; Constraint optimization; control; Control systems; dynamics; Humans; kinematics; Manipulator dynamics; Optimization; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; speed-accuracy constraint
• ISBN: 1424427886; 9781424427888
• ISSN: 1050-4729
• DOI: 10.1109/ROBOT.2009.5152381

Robot motor capability is crucial for skill learning because it determines how accurately and rapidly a robot can perform a skill to accomplish a task constrained by the spatial and temporal conditions. Due to the capability of robot motor, a robot may not be able to perform skills to satisfy both task spatial and temporal constraints. To determine the robot motor capability, this paper formulates the skill for accomplishing a task as an optimization problem subject to the spatial and temporal conditions of the task, and proposes to develop a speed-accuracy constraint suitable for the optimization problem. The proposed speed-accuracy constraint is derived from the kinematics, dynamics, and control of a robot motor system. By solving the optimization problem, a robot can perform the skill to achieve a task by its fastest speed without violating the spatial and temporal conditions of the task. Computer simulations were performed on a PUMA 560 robot to demonstrate a skill on a typical task to validate the proposed speed-accuracy optimization.