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2008
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Soft motion trajectory planner for service manipulator robot

10 years 4 months ago
Soft motion trajectory planner for service manipulator robot
Abstract— Human interaction introduces two main constraints: Safety and Comfort. Therefore service robot manipulator can’t be controlled like industrial robotic manipulator where personnel is isolated from the robot’s work envelope. In this paper, we present a soft motion trajectory planner to try to ensure that these constraints are satisfied. This planner can be used on-line to establish visual and force control loop suitable in presence of human. The cubic trajectories build by this planner are good candidates as output of a manipulation task planner. The obtained system is then homogeneous from task planning to robot control. The soft motion trajectory planner limits jerk, acceleration and velocity in cartesian space using quaternion. Experimental results carried out on a Mitsubishi PA10-6CE arm are presented.
Xavier Broquère, Daniel Sidobre, Ignacio He
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Xavier Broquère, Daniel Sidobre, Ignacio Herrera-Aguilar
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