Entwicklung einer Trajektorienplanung auf Basis eines Plattform-Positionsreglers am Robotersystem EDAN

Abstract

The robotic system EDAN features an electric wheelchair equipped with a robotic arm and grasping device. Shared-control techniques assist the user of the system in performing everyday activities such as opening a door. Here, aligning the non-holonomic wheelchair platform often posed a major difficulty for the user. In order to facilitate this for the user, a trajectory planning algorithm based on a platform position controller to achieve a target pose was developed and integrated into the system. In particular, a path planning algorithm based on the concepts of Dubins curves was implemented. A suitable velocity profile was determined using time-optimal time-scaling, which allows compliance with velocity as well as acceleration limits. Finally, the developed trajectory planning was integrated on the EDAN robot system and analyzed for precision and efficiency.