This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator’s end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.
Smooth Real-Time Motion Planning Based on a Cascade Dual-Quaternion Screw-Geometry MPC
Springer Proceedings in Advanced Robotics
International Workshop on Human-Friendly Robotics ; 2023 ; Munich, Germany September 20, 2023 - September 21, 2023
2024-03-10
17 pages
Article/Chapter (Book)
Electronic Resource
English
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