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Enhancing Robotic Arm Control Using Case-Based Reasoning Approach

Utilize Case-Based Reasoning to improve robotic arm control by modifying and returning solutions from similar cases. This method, based on Kinematic Formulas, helps solve complex problems and interpolate solutions efficiently. Implement K-D Trees for nearest neighbor search, enabling faster comparisons.

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Enhancing Robotic Arm Control Using Case-Based Reasoning Approach

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Presentation Transcript

  1. Case Based Reasoning Learning by recording cases as is, doing nothing to the information in the cases until that information is used.

  2. I give you a new box  you tell me color

  3. Feature space

  4. CBR • Modify the solution of the closest similar case • Return the solution of the closest similar case • U is orange

  5. Can solve difficult problems • Control movement of robotic arm

  6. Kinematic Formula • Joint angle

  7. Kinematic Formula for torque

  8. Practice and Interpolate Practice to create a case-base Interpolate to modify solution

  9. Drawing a straight line

  10. K-D Trees • Nearest neighbors  fast • n comparisons versus log n (base 2) • First divide by height • Then by width • …

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