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Trajectory Generation for Path-Accurate Jerk-Limited Sensor-Based Path Corrections of Robot Arms

Lange, Friedrich and 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), p. 4087. 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

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.

Item URL in elib:https://elib.dlr.de/96526/
Document Type:Conference or Workshop Item (Poster)
Title:Trajectory Generation for Path-Accurate Jerk-Limited Sensor-Based Path Corrections of Robot Arms
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:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:p. 4087
Status:Published
Keywords:Robotics, Trajectory Generation
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:18 Jun 2015 14:08
Last Modified:31 Jul 2019 19:53

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