TY - GEN
T1 - Hierarchical Motion Planning Framework for Manipulators in Human-Centered Dynamic Environments
AU - Wittmann, Jonas
AU - Jankowski, Julius
AU - Wahrmann, Daniel
AU - Rixen, Daniel J.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - Collaborating robots face rising challenges with respect to autonomy and safety as they are deployed in flexible automation applications. The ability to perform the required tasks in the presence of humans and obstacles is key for the integration of these machines in industry. In this work we introduce a framework for motion planning of manipulators that builds upon the most promising existing approaches by combining them in an advantageous way. It includes a new Obstacle-related Sampling Rejection Probabilistic Roadmap planner (ORSR-PRM) that represents the free workspace in an efficient way. Using this representation, dynamic obstacles can be avoided in real-time using an attractor-based online trajectory generation. The resulting motions satisfy kinematic and dynamic joint limits, ensuring a safe human-robot interaction. We validate the functionality and performance of the presented framework in simulations and experiments.
AB - Collaborating robots face rising challenges with respect to autonomy and safety as they are deployed in flexible automation applications. The ability to perform the required tasks in the presence of humans and obstacles is key for the integration of these machines in industry. In this work we introduce a framework for motion planning of manipulators that builds upon the most promising existing approaches by combining them in an advantageous way. It includes a new Obstacle-related Sampling Rejection Probabilistic Roadmap planner (ORSR-PRM) that represents the free workspace in an efficient way. Using this representation, dynamic obstacles can be avoided in real-time using an attractor-based online trajectory generation. The resulting motions satisfy kinematic and dynamic joint limits, ensuring a safe human-robot interaction. We validate the functionality and performance of the presented framework in simulations and experiments.
UR - http://www.scopus.com/inward/record.url?scp=85095758882&partnerID=8YFLogxK
U2 - 10.1109/RO-MAN47096.2020.9223549
DO - 10.1109/RO-MAN47096.2020.9223549
M3 - Conference contribution
AN - SCOPUS:85095758882
T3 - 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
SP - 525
EP - 532
BT - 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020
Y2 - 31 August 2020 through 4 September 2020
ER -