Dynamic modeling of robotic trajectories using the parametrized SOM

摘要

Simulations for a PUMA 560 robot using trajectories of different degrees of complexity showed that the TEP-SOM was more precise then the SONARX and the CHT model [1], both do not parameterize the response space. In the tests were observed the accuracy of the obtained spatial positions and joint angles and the ability to handle repeated positions in the same trajectory such as eight-shape trajectory. The TESPOM will be applied to a real PUMA 560 to test the efficiency of the model in planning and control trajectories for this arm.