Dynamical system-based robot reaching motions by para-model control approach - A preliminary study

TL;DR

This paper explores a novel control approach called para-model control for robot reaching motions, utilizing a derivative-free optimization to enhance dynamical performance in a closed-loop system.

Contribution

It introduces the application of the para-model control framework to robotic trajectory management, marking a preliminary step in this research area.

Findings

Successful implementation of para-model control in robot trajectory tracking

Improved dynamical performance through derivative-free optimization

Preliminary validation indicating potential for further development

Abstract

In this report, we apply the proposed "para-model" framework in order to control the trajectory of a dynamical system-based robot. The optimization of the dynamical performances in closed-loop is performed using a derivative-free optimization algorithm.