Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms

被引:1
|
作者
Lange, Friedrich [1 ]
Albu-Schaeffer, Alin [1 ,2 ]
机构
[1] German Aerosp Ctr DLR, Inst Robot & Mechatron, Wessling, Germany
[2] Tech Univ Munich, Dept Informat, Garching, Germany
关键词
Trajectory generation; industrial robots; motion generation; path accuracy; TIME; DESIGN;
D O I
10.1080/01691864.2016.1222307
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Sensor-based trajectory generation of industrial robots can be seen as the task of, first, adaptation of a given robot program according to the actually sensed world, and second, its modification that complies with robot constraints regarding its velocity, acceleration, and jerk. The second task is investigated in this paper. Whenever the sensed trajectory violates a constraint, a transient trajectory is computed that, both, keeps the sensed path, and reaches the sensed trajectory as fast as possible while satisfying the constraints. This is done by an iteration of forward scaling and backtracking. In contrast to previous papers, a new backtracking algorithm and an adaptation of the prediction length are presented that are favorable for high-speed trajectories. Arc Length Interpolation is used in order to improve the path accuracy. This is completed by provisions against cutting short corners or omitting of loops in the given path. The refined trajectory is computed within a single sampling step of 4 ms using a standard KUKA industrial robot.
引用
收藏
页码:1380 / 1394
页数:15
相关论文
共 50 条
  • [1] Predictive Path-Accurate Scaling of a Sensor-Based Defined Trajectory
    Lange, Friedrich
    Suppa, Michael
    [J]. 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 754 - 759
  • [2] Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots
    Lange, Friedrich
    Albu-Schaffer, Alin
    [J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2016, 1 (01) : 82 - 89
  • [3] Trajectory Generation for Immediate Path-Accurate Jerk-Limited Stopping of Industrial Robots
    Lange, Friedrich
    Suppa, Michael
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 2021 - 2026
  • [4] Calibration and synchronization of a robot-mounted camera for fast sensor-based robot motion
    Lange, F
    Hirzinger, G
    [J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 3900 - 3905
  • [5] Sensor-based robot motion generation in unknown, dynamic and troublesome scenarios
    Minguez, J
    Montano, L
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2005, 52 (04) : 290 - 311
  • [6] Sensor-Based Motion Control for a Mobile Robot
    Popa, A. S.
    Popa, M.
    Szilagyi, D.
    [J]. SACI: 2009 5TH INTERNATIONAL SYMPOSIUM ON APPLIED COMPUTATIONAL INTELLIGENCE AND INFORMATICS, 2009, : 325 - +
  • [7] Path quality measures for sensor-based motion planning
    Moreno, L
    Dapena, E
    [J]. ROBOTICS AND AUTONOMOUS SYSTEMS, 2003, 44 (02) : 131 - 150
  • [8] RGB-D sensor-based Auto Path Generation Method for Arc Welding Robot
    Li Jing
    Jing Fengshui
    Li En
    [J]. PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC), 2016, : 4390 - 4395
  • [9] Industrial robot accurate trajectory generation by nested loop iterative learning control
    Lee, Yu-Hsiu
    Hsu, Sheng-Chieh
    Chi, Tien-Yun
    Du, Yan-Yi
    Hu, Jwu-Sheng
    Tsao, Tsu-Chin
    [J]. MECHATRONICS, 2021, 74
  • [10] Sensor-Based Trajectory Generation for Advanced Driver Assistance System
    Shackleton, Christopher James
    Kala, Rahul
    Warwick, Kevin
    [J]. ROBOTICS, 2013, 2 (01) : 19 - 35