Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC

Ainoor Teimoorzadeh; Frederico Fernandes Afonso Silva; Luis F.C. Figueredo; Sami Haddadin

doi:10.1007/978-3-031-55000-3_12

Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC

Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F.C. Figueredo, Sami Haddadin

Chair of Robotics and Systems Intelligence

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Human-Friendly Robotics 2023 - HFR
Subtitle of host publication	16th International Workshop on Human-Friendly Robotics
Editors	Cristina Piazza, Patricia Capsi-Morales, Luis Figueredo, Manuel Keppler, Hinrich Schütze
Publisher	Springer Nature
Pages	164-180
Number of pages	17
ISBN (Print)	9783031549991
DOIs	https://doi.org/10.1007/978-3-031-55000-3_12
State	Published - 2024
Event	16th International Workshop on Human-Friendly Robotics, HFR 2023 - Munich, Germany Duration: 20 Sep 2023 → 21 Sep 2023

Publication series

Name	Springer Proceedings in Advanced Robotics
Volume	29 SPAR
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	16th International Workshop on Human-Friendly Robotics, HFR 2023
Country/Territory	Germany
City	Munich
Period	20/09/23 → 21/09/23

Access to Document

10.1007/978-3-031-55000-3_12

Cite this

Teimoorzadeh, A., Silva, F. F. A., Figueredo, L. F. C., & Haddadin, S. (2024). Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. In C. Piazza, P. Capsi-Morales, L. Figueredo, M. Keppler, & H. Schütze (Eds.), Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics (pp. 164-180). (Springer Proceedings in Advanced Robotics; Vol. 29 SPAR). Springer Nature. https://doi.org/10.1007/978-3-031-55000-3_12

Teimoorzadeh, Ainoor ; Silva, Frederico Fernandes Afonso ; Figueredo, Luis F.C. et al. / Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. editor / Cristina Piazza ; Patricia Capsi-Morales ; Luis Figueredo ; Manuel Keppler ; Hinrich Schütze. Springer Nature, 2024. pp. 164-180 (Springer Proceedings in Advanced Robotics).

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abstract = "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{\textquoteright}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.",

author = "Ainoor Teimoorzadeh and Silva, {Frederico Fernandes Afonso} and Figueredo, {Luis F.C.} and Sami Haddadin",

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Teimoorzadeh, A, Silva, FFA, Figueredo, LFC & Haddadin, S 2024, Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. in C Piazza, P Capsi-Morales, L Figueredo, M Keppler & H Schütze (eds), Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. Springer Proceedings in Advanced Robotics, vol. 29 SPAR, Springer Nature, pp. 164-180, 16th International Workshop on Human-Friendly Robotics, HFR 2023, Munich, Germany, 20/09/23. https://doi.org/10.1007/978-3-031-55000-3_12

Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. / Teimoorzadeh, Ainoor; Silva, Frederico Fernandes Afonso; Figueredo, Luis F.C. et al.
Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. ed. / Cristina Piazza; Patricia Capsi-Morales; Luis Figueredo; Manuel Keppler; Hinrich Schütze. Springer Nature, 2024. p. 164-180 (Springer Proceedings in Advanced Robotics; Vol. 29 SPAR).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Teimoorzadeh A, Silva FFA, Figueredo LFC, Haddadin S. Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC. In Piazza C, Capsi-Morales P, Figueredo L, Keppler M, Schütze H, editors, Human-Friendly Robotics 2023 - HFR: 16th International Workshop on Human-Friendly Robotics. Springer Nature. 2024. p. 164-180. (Springer Proceedings in Advanced Robotics). doi: 10.1007/978-3-031-55000-3_12