Trajectory Smoothing using Jerk Bounded Shortcuts for Service Manipulator Robots - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2015

Trajectory Smoothing using Jerk Bounded Shortcuts for Service Manipulator Robots

Résumé

This paper aims to smooth jerky trajectories for high-DOF manipulators with Soft Motion [1] shortcuts which are bounded in velocity, acceleration and jerk. The algorithm presented here iteratively picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter and collision-free segment. The objective of this algorithm is to shorten the execution time of an input trajectory as much as possible while retaining the feasibility. Simulation and real-world experimental results on reaching tasks in human environments show that this technique can generate smooth and collision-free motions for a KUKA LightWeight Robot.
Fichier principal
Vignette du fichier
IROS2015ShortCut.pdf (1.19 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-01763794 , version 1 (11-04-2018)

Identifiants

Citer

Ran Zhao, Daniel Sidobre. Trajectory Smoothing using Jerk Bounded Shortcuts for Service Manipulator Robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep 2015, Hamburg, Germany. pp.4929-4934, ⟨10.1109/IROS.2015.7354070⟩. ⟨hal-01763794⟩
50 Consultations
1301 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More