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Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots

Lange, Friedrich and Albu-Schäffer, Alin (2016) Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots. IEEE Robotics and Automation Letters, 1 (1), pp. 82-89. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2015.2506899. ISSN 2377-3766.

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Official URL: http://ieeexplore.ieee.org

Abstract

Standard industrial controllers of robot arms define constraints on the velocity, the acceleration, and the jerk and abort execution in case any of them is violated. In addition to satisfying these constraints, the presented method tries to generate a trajectory that is path-accurate, i.e., that exactly tracks the 6-dof shape of the desired path in axis space. Furthermore, the computed trajectory is as close as possible to the original robot program. This is reached by forward scaling and backtracking until a feasible trajectory is obtained. In contrast to previous work, blending of subsequent segments of the desired path is prevented by interpolation of the arc length instead of direct position interpolation. Because of its time-efficiency the algorithm can be applied in each sampling step, e.g. every 4~ms for a standard KUKA robot with RSI interface. Experimental results demonstrate the approach.

Item URL in elib:https://elib.dlr.de/101288/
Document Type:Article
Title:Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Lange, FriedrichUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:1 January 2016
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:1
DOI:10.1109/LRA.2015.2506899
Page Range:pp. 82-89
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:Trajectory Generation, Motion Control of Manipulators, Industrial Robots
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:15 Feb 2016 13:56
Last Modified:14 Dec 2019 04:23

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