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Iterative Path-Accurate Trajectory Generation for Fast Sensor-Based Motion of Robot Arms

Lange, Friedrich and Albu-Schäffer, Alin (2016) Iterative Path-Accurate Trajectory Generation for Fast Sensor-Based Motion of Robot Arms. Advanced Robotics, 30 (21), pp. 1380-1394. Taylor & Francis. doi: 10.1080/01691864.2016.1222307. ISSN 0169-1864.

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Official URL: http://www.tandfonline.com/loi/tadr20


Sensor-based trajectory generation of industrial robots can be seen as the task of, first, adaptation of a given robot program according to the actually sensed world, and second, its modification that complies with robot constraints regarding its velocity, acceleration, and jerk. The second task is investigated in this paper. Whenever the sensed trajectory violates a constraint, a transient trajectory is computed that, both, keeps the sensed path, and reaches the sensed trajectory as fast as possible while satisfying the constraints. This is done by an iteration of forward scaling and backtracking. In contrast to previous papers a new backtracking algorithm and an adaptation of the prediction length are presented that are favorable for high-speed trajectories. Arc Length Interpolation is used in order to improve the path accuracy. This is completed by provisions against cutting short corners or omitting of loops in the given path. The refined trajectory is computed within a single sampling step of 4 ms using a standard KUKA industrial robot.

Item URL in elib:https://elib.dlr.de/113129/
Document Type:Article
Additional Information:Published online at Taylor & Francis Online (ISSN 1568-5535) since August 29, 2016
Title:Iterative Path-Accurate Trajectory Generation for Fast Sensor-Based Motion of Robot Arms
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:29 August 2016
Journal or Publication Title:Advanced Robotics
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1380-1394
Publisher:Taylor & Francis
Keywords:Trajectory Generation, Industrial Robots, Motion Generation, Path Accuracy
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 Intelligente Mobilität (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:17 Jul 2017 17:18
Last Modified:03 Nov 2023 07:33

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