Iterative path-accurate trajectory generation for fast sensor-based motion of robot arms. (1st November 2016)

• Record Type: Journal Article
• Authors: Lange, Friedrich; Albu-Schäffer, Alin
• Is Part Of: Advanced robotics. Volume 30:Number 21(2016)
• Page Start: 1380
• Page End: 1394
• Publication Date: 2016-11-01
• Subjects: Trajectory generation -- industrial robots -- motion generation -- path accuracy; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2016.1222307
• Languages: English
• ISSNs: 0169-1864

Abstract

Graphical Abstract: Abstract : 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.