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Predictive Path-Accurate Scaling of a Sensor-Based Defined Trajectory

Lange, Friedrich and Suppa, Michael (2014) Predictive Path-Accurate Scaling of a Sensor-Based Defined Trajectory. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 754-759. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), 31.5.2014-7.6.2014, Hong Kong, China. ISBN 978-1-4799-3684-7

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Official URL: http://www.icra2014.com

Abstract

The paper considers an a priori given robot trajectory which has to be recomputed when online sensed information on the environment is available. Then the original trajectory is adapted in order to continue the so far commanded motion by the sensed geometric shape. The adapted trajectory has to comply with restrictions on velocity, acceleration and jerk. Furthermore it is desired to converge to the original trajectory. At least if the robot is in contact with the environment it is further essential that the geometrical path is not left when modifying the trajectory. This means that preferably only the temporal profile is changed by scaling or rescaling the velocity. In order to inhibit overshooting, future restrictions are predicted and backtracked in the case of a violation. All this computation is done within a single sampling step, i.e. within 4~ms for a standard KUKA industrial robot. This precludes accurate optimization algorithms. When applied without an a priori given trajectory the method results in an near time-optimal solution.

Item URL in elib:https://elib.dlr.de/113132/
Document Type:Conference or Workshop Item (Speech)
Title:Predictive Path-Accurate Scaling of a Sensor-Based Defined Trajectory
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, Friedrichfriedrich.lange (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:31 May 2014
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 754-759
ISBN:978-1-4799-3684-7
Status:Published
Keywords:Industrieroboter, Trajektoriengenerierung
Event Title:2014 IEEE International Conference on Robotics and Automation (ICRA 2014)
Event Location:Hong Kong, China
Event Type:international Conference
Event Dates:31.5.2014-7.6.2014
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:17 Jul 2017 17:18
Last Modified:31 Jul 2019 20:10

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