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• W641289191 abstract "In this paper, a method for direct trajectory generation for robotic manipulators is proposed. The method is specifically designed for obstacle avoidance and can incorporate kinematic constraints into the avoidance motion. In particular, a point-to-point and multi-point trajectory generator is proposed in which different levels of constraints can be established on via- and end-points. The approach is direct in the sense that at every time instant a new trajectory is generated, which allows the trajectory to be changed at runtime. Moreover, when the final conditions of the trajectory are altered such that constraints would be violated, an optimization procedure is employed in order to extend the execution time of the trajectory. This effectively makes the trajectory time-optimal. The approach is experimentally verified with a 7-DOF anthropomorphic manipulator with time-synchronization of multiple trajectories. I. INTRODUCTION With the increasing demand of integrating robotics into every day life and industry, safety requirements are still a driving factor. In a human-centred environment, robot motion has to be as smooth as possible and safety has to be guaranteed. This implies a safe replanning of motion when obstacles are detected. As current state-of-the-art approaches differentiate between obstacle avoidance (i.e., path planning) and traditional positioning (i.e., trajectory planning), the problem of avoidance is usually solved by designing a new path. This means that predefined kinematic constraints for the trajectory are not taken into account for obstacle avoidance and only a reactive motion guides the robot away from objects (e.g. potential field, roadmap). This combination of traditional motion control with direct and online replanning of trajectories is the concept of this paper. In particular, our approach designs a new trajectory at every iteration, even when no obstacle is detected. This enables the generation of a trajectory only for the next state of the motion system based on current state and events. As such, sudden, unexpected actions that need replanning of motion can be taken into account. Direct trajectory design is presented for point-to-point and multi-point positioning, for different levels of constraints. More specifically, a different choice of constraints on (via-)points and on the complete trajectory itself will result in a different motion design. In order to guarantee that motion bounds are not violated, an optimization procedure is employed which regards the extension of the execution time in order to meet predefined kinematic constraints." @default.
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• W641289191 date "2012-01-01" @default.
• W641289191 modified "2023-09-25" @default.
• W641289191 title "Direct trajectory generation for vision-based obstacle avoidance" @default.
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