Mitsubishi Electric Research Laboratories, Inc.

Xiaoming Duan

Philip Orlik

Toshiaki Koike-Akino

Yebin Wang

Provided herein is a method for controlling a manipulator, comprising accepting an initial pose of a load and a task for moving the load and retrieving using a mapping function, an identification trajectory corresponding to the initial pose of the load and controlling a plurality of actuators of the manipulator to move the load according to the retrieved identification trajectory and obtaining measured motion data and estimated motion data of the load each corresponding to motion of the load. The method further comprises estimating parameters of the load based on the measured motion data and the estimated motion data, obtaining a model of the manipulator having the load with the estimated parameters, and determining a performance trajectory to move the load according to the task based on the obtained model of the manipulator. The method further comprises controlling the actuators to move the load according to the performance trajectory.

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Xiaoming Duan