Soft Motion Trajectory Planner for Service Manipulator Robot

Details Soft Motion Trajectory Planner for Service Manipulator Robot Soft Motion Trajectory Planner for Service Manipulator Robot

2009-05-06

arxiv.org/abs/0905.0749v1

International Conference on Intelligent Robots and Systems, IROS 2008. IEEE/RSJ, Nice : France (2008)

Computer Science

Robotics

Scientific paper

Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can't be controlled like industrial robotic manipulator where personnel is isolated from the robot's work envelope. In this paper, we present a soft motion trajectory planner to try to ensure that these constraints are satisfied. This planner can be used on-line to establish visual and force control loop suitable in presence of human. The cubic trajectories build by this planner are good candidates as output of a manipulation task planner. The obtained system is then homogeneous from task planning to robot control. The soft motion trajectory planner limits jerk, acceleration and velocity in cartesian space using quaternion. Experimental results carried out on a Mitsubishi PA10-6CE arm are presented.

Affiliated with

Also associated with

No associations

Rating

Soft Motion Trajectory Planner for Service Manipulator Robot does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Soft Motion Trajectory Planner for Service Manipulator Robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Soft Motion Trajectory Planner for Service Manipulator Robot will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-541220