Lange, Friedrich und Suppa, Michael (2015) Trajectory Generation for Path-Accurate Jerk-Limited Sensor-Based Path Corrections of Robot Arms. In: IEEE International Conference on Robotics and Automation (ICRA), Seite 4087. Int. Conf. on Robotics and Automation (ICRA), 2015-05-26 - 2015-05-30, Seattle, WA, USA.
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Offizielle URL: http://www.icra2015.org/
Kurzfassung
In previous work of the authors, trajectory generation for immediate path-accurate stopping is presented. It turns out that, with some extensions, this method is also applicable to generic trajectory generation, especially for computing a velocity profile for online modifications of the desired path, e.g. due to unexpected sensor data. The method computes a trajectory that satisfies constraints on the velocity, the acceleration, and the jerk, while staying as close as possible to the sensed desired path. A feasible solution is always found, even if exact path accuracy is not reachable. In contrast to time-optimal execution of the desired path, in this presentation the goal is to synchronize with the original robot program. So, e.g. after the execution of a sensed deviation the robot continues the original trajectory, maybe shifted by a sensed offset. The new trajectory is computed by iterative forward scaling and backtracking, where in contrast to other previous work the arc length is interpolated (ALI). In this way the path accuracy is superior to that with direct pose interpolation (DPI), which may feature undesired blending of subsequent path segments. 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.
elib-URL des Eintrags: | https://elib.dlr.de/96526/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||
Titel: | Trajectory Generation for Path-Accurate Jerk-Limited Sensor-Based Path Corrections of Robot Arms | ||||||||||||
Autoren: |
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Datum: | 26 Mai 2015 | ||||||||||||
Erschienen in: | IEEE International Conference on Robotics and Automation (ICRA) | ||||||||||||
Referierte Publikation: | Nein | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
Seitenbereich: | Seite 4087 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Robotics, Trajectory Generation | ||||||||||||
Veranstaltungstitel: | Int. Conf. on Robotics and Automation (ICRA) | ||||||||||||
Veranstaltungsort: | Seattle, WA, USA | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 26 Mai 2015 | ||||||||||||
Veranstaltungsende: | 30 Mai 2015 | ||||||||||||
Veranstalter : | IEEE RAS | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||
Hinterlegt von: | Lange, Dr.-Ing. Friedrich | ||||||||||||
Hinterlegt am: | 18 Jun 2015 14:08 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:02 |
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