TY - GEN
T1 - Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC
AU - Teimoorzadeh, Ainoor
AU - Silva, Frederico Fernandes Afonso
AU - Figueredo, Luis F.C.
AU - Haddadin, Sami
N1 - Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
PY - 2024
Y1 - 2024
N2 - This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator’s end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.
AB - This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator’s end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.
UR - http://www.scopus.com/inward/record.url?scp=85188706546&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-55000-3_12
DO - 10.1007/978-3-031-55000-3_12
M3 - Conference contribution
AN - SCOPUS:85188706546
SN - 9783031549991
T3 - Springer Proceedings in Advanced Robotics
SP - 164
EP - 180
BT - Human-Friendly Robotics 2023 - HFR
A2 - Piazza, Cristina
A2 - Capsi-Morales, Patricia
A2 - Figueredo, Luis
A2 - Keppler, Manuel
A2 - Schütze, Hinrich
PB - Springer Nature
T2 - 16th International Workshop on Human-Friendly Robotics, HFR 2023
Y2 - 20 September 2023 through 21 September 2023
ER -