The planning and execution of real-world robotic tasks largely depend on the ability to generate feasible motions online in response to changing environment conditions or goals. A spline deformation method is able to modify a given trajectory so that it matches the new boundary conditions, e.g. on positions, velocities, accelerations, etc. At the same time, the deformed motion preserves velocity, acceleration, jerk or higher derivatives of motion profile of precalculated trajectory. The deformed motion possessing such properties can be expressed by translation of original trajectory and spline interpolation. This spline decomposition considerably reduces the computational complexity and allows the real-time execution. Formal feasibility guarantees are provided for the deformed trajectory and for the resulting torques. These guarantees are based on the special properties of Bernstein polynomials used for the deformation and on the structure of the chosen computed torque control scheme. The approach is experimentally evaluated in a number of planar volleyball experiments using 3-DoF robots and human participants.


    Access

    Download


    Export, share and cite



    Title :

    Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators


    Contributors:
    Pekarovskiy, A. (author) / Nierhoff, T. (author) / Hirche, S. (author) / Buss, M. (author)

    Publication date :

    2019-09-18



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629 / 620



    Generating Smooth Motions For Robotic Manipulators

    Bejczy, Antal K. / Szakaly, Zoltan F. | NTRS | 1993


    Optimal control prediction of dynamically consistent walking motions

    Pallares Lopez, Roger | BASE | 2017

    Free access

    Iterative Learning Control of Robotic Manipulators by Hybrid Adaptation Schemes

    Miyasato, Y. | British Library Online Contents | 2007


    Parametric Excitation of Robotic Manipulators

    Sankaranarayanan, H.K. | Online Contents | 1994


    Chattering free fast terminal sliding mode control for rigid robotic manipulators

    Feng, Y. / Bao, S. / Yu, X.-h. | British Library Online Contents | 2002