Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts

This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with...

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Bibliographic Details
Published in2010 IEEE International Conference on Robotics and Automation pp. 2493 - 2498
Main Authors Hauser, Kris, Ng-Thow-Hing, Victor
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2010
Subjects
Acceleration
Animation
Computational modeling
Humans
Manipulators
Robots
Smoothing methods
State-space methods
Testing
USA Councils
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Summary:This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter, collision-free segment. Here, we construct segments that interpolate between endpoints with specified velocity in a time-optimal fashion, while respecting velocity and acceleration bounds. These trajectory segments consist of parabolic and straight-line curves, and can be computed in closed form. Experiments on reaching tasks in cluttered human environments demonstrate that the technique can generate smooth, collision-free, and natural-looking motion in seconds for a PUMA manipulator and the Honda ASIMO robot.
ISBN:9781424450381
1424450381
ISSN:1050-4729
DOI:10.1109/ROBOT.2010.5509683