Classifying Movement Articulation for Robotic Arms via Machine Learning

摘要

Articulation via target-oriented approaches have been commonly used in robotics. Movement of a robotic arm can involve targeting via a forward or inverse kinematics approach to reach the target. We attempted to transform the task of controlling the motor articulation to a machine learning approach. Towards this goal, we built an online robotic arm to extract articulation datasets and have used SVM and Naive Bayes techniques to predict multi-joint articulation. For control- ling the preciseness and efficiency, we developed pick and place tasks based on pre-marked positions and extracted training datasets which were then used for learning. We have used classification as a scheme to replace prediction-correction approach as usually attempted in traditional robotics. This study reports significant classification accuracy and efficiency on real and synthetic datasets generated by the device. The study also suggests SVM and Naive Bayes algorithms as alterna- tives for computational intensive prediction-correction learning schemes for articulator movement in laboratory environ- ments.