TY - GEN
T1 - Smooth Point-to-Point Trajectory Planning in SE (3)with Self-Collision and Joint Constraints Avoidance
AU - Grassmann, Reinhard
AU - Johannsmeier, Lars
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - In this paper we introduce a novel point-to-point trajectory planner for serial robotic structures that combines the ability to avoid self-collisions and to respect motion constraints, while complying with the requirement of being C4 continuous. The latter property makes our approach also suited for 4th order dynamics flexible joint robots, which gained significant practical relevance recently. In particular, we address the problem of generating a smooth, kinematically nearly time-optimal SE (3)trajectory while simultaneously avoiding potential collisions of the robot end-effector with its base as well as respecting the Cartesian unreachable states induced by the joint limits of the proximal kinematic structure.
AB - In this paper we introduce a novel point-to-point trajectory planner for serial robotic structures that combines the ability to avoid self-collisions and to respect motion constraints, while complying with the requirement of being C4 continuous. The latter property makes our approach also suited for 4th order dynamics flexible joint robots, which gained significant practical relevance recently. In particular, we address the problem of generating a smooth, kinematically nearly time-optimal SE (3)trajectory while simultaneously avoiding potential collisions of the robot end-effector with its base as well as respecting the Cartesian unreachable states induced by the joint limits of the proximal kinematic structure.
UR - http://www.scopus.com/inward/record.url?scp=85062984503&partnerID=8YFLogxK
U2 - 10.1109/IROS.2018.8594339
DO - 10.1109/IROS.2018.8594339
M3 - Conference contribution
AN - SCOPUS:85062984503
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8352
EP - 8359
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -