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Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots

Lange, Friedrich and Suppa, Michael (2015) Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 2021-2026. Int. Conf. on Robotics and Automation (ICRA), 26.5.-30.5.2015, Seattle, WA, USA.

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Official URL: http://www.icra2015.org/

Abstract

Stopping the motion of industrial robots in response to warnings or unexpected sensor data is a special case of trajectory generation. In contrast to emergency stops, here the robot has to satisfy the limits of the acceleration and the jerk. In addition, during the deceleration the robot must follow the path accurately, i.e., the shape of the original path may not be left. This is usually done by scaling the desired velocity. However, for curved paths, e.g. those generated by blending of linear motion commands, by sensor corrections, or directly by splines, this method may leave the desired path. The problem is solved by interpolation using the arc length. In contrast to other methods, here the constraints are considered directly, resulting in a time-efficient computation. Finally, the proposed method prevents a rebound caused by the jerk limits when reaching zero velocity. Experiments are presented using a stiff KUKA robot whose path is exactly tracked during deceleration.

Item URL in elib:https://elib.dlr.de/96525/
Document Type:Conference or Workshop Item (Speech, Other)
Title:Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lange, Friedrichfriedrich.lange (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:26 May 2015
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. 2021-2026
Status:Published
Keywords:Robotics, Trajectory Control
Event Title:Int. Conf. on Robotics and Automation (ICRA)
Event Location:Seattle, WA, USA
Event Type:international Conference
Event Dates:26.5.-30.5.2015
Organizer:IEEE RAS
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 Jun 2015 11:21
Last Modified:31 Jul 2019 19:53

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