TY - GEN
T1 - Fast and close to optimal trajectory generation for articulated robots in reaching motions
AU - Dinh, Khoi Hoang
AU - Weiler, Philipp
AU - Leibold, Marion
AU - Wollherr, Dirk
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - This paper introduces an extension to a method for fast and close to optimal trajectory generation for articulated robots in the case where dynamic constraints and real-Time capability are considered. We aim at solving reaching motion problems without pre-defined timing requirements, where the robot starts from its current state trying to reach the final desired state. Our approach combines the advantage of Sequential Action Control (SAC) with an indirect optimization process to further improve optimality and not violate final state constraints while still being applicable for online implementation. Simulation results on a 2 degree of freedom (DOF) and a 3 DOF KUKA-based platform are evaluated to show the improvement of our method in comparison to SAC and other optimal control methods in terms of cost efficiency and computation time.
AB - This paper introduces an extension to a method for fast and close to optimal trajectory generation for articulated robots in the case where dynamic constraints and real-Time capability are considered. We aim at solving reaching motion problems without pre-defined timing requirements, where the robot starts from its current state trying to reach the final desired state. Our approach combines the advantage of Sequential Action Control (SAC) with an indirect optimization process to further improve optimality and not violate final state constraints while still being applicable for online implementation. Simulation results on a 2 degree of freedom (DOF) and a 3 DOF KUKA-based platform are evaluated to show the improvement of our method in comparison to SAC and other optimal control methods in terms of cost efficiency and computation time.
UR - https://www.scopus.com/pages/publications/85028777876
U2 - 10.1109/AIM.2017.8014185
DO - 10.1109/AIM.2017.8014185
M3 - Conference contribution
AN - SCOPUS:85028777876
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1221
EP - 1227
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -