Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories
| Autor: | Wilm Decré, Erwin Aertbeliën, Joris De Schutter, Maxim Vochten |
|---|---|
| Jazyk: | angličtina |
| Předmět: |
Technology
0209 industrial biotechnology Control and Optimization optimization and optimal control Computer science Trajectory reactive and sensor-based planning Biomedical Engineering Robot manipulator 02 engineering and technology Robot kinematics 010501 environmental sciences 01 natural sciences Task (project management) law.invention Computer Science::Robotics 020901 industrial engineering & automation Motion and path planning Artificial Intelligence Control theory law 0105 earth and related environmental sciences Science & Technology Mechanical Engineering Shape Robotics Robot end effector Generators End effectors Computer Science Applications Human-Computer Interaction Control and Systems Engineering Task analysis Robot Computer Vision and Pattern Recognition Robots Generator (mathematics) |
| Zdroj: | IEEE Robotics and Automation Letters |
| ISSN: | 2377-3766 2377-3774 |
| DOI: | 10.1109/lra.2020.3048674 |
| Popis: | Variation in task requirements and operation in uncertain environments require robots that can continuously adapt their motions during execution. To do this successfully, the original motion characteristics must be preserved. This paper presents an approach for on-line adaptation of end-effector trajectories for robot manipulators. The trajectory generator aims to preserve the shape of a given model trajectory through its coordinate-invariant shape description. In addition, this trajectory generator is coupled to a task specification and control framework that enables reactive behavior of the robot. Simulation results on the UR10 robot indicate the capability of the developed approach to generalize end-effector trajectories towards new targets while preserving the original trajectory shape. The controller's reactivity is shown towards moving targets and obstacles in the environment. The combination of shape preservation and reactive control may endow robots with better on-line motion generalization capabilities. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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