Dynamically feasible task-constrained motion planning with moving obstacles

We present a randomized algorithm for planning dynamically feasible motions of robots subject to geometric task constraints in the presence of moving obstacles. The proposed method builds upon our previous results on task-constrained motion planning with moving obstacles. With respect to our previou...

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Bibliographic Details
Published inProceedings - IEEE International Conference on Robotics and Automation pp. 2045 - 2050
Main Authors Cefalo, Massimo, Oriolo, Giuseppe
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2014
Subjects
Acceleration
Joints
Kinematics
Manipulators
Planning
Torque
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ISSN1050-4729
DOI10.1109/ICRA.2014.6907130

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Summary:We present a randomized algorithm for planning dynamically feasible motions of robots subject to geometric task constraints in the presence of moving obstacles. The proposed method builds upon our previous results on task-constrained motion planning with moving obstacles. With respect to our previous formulation, the inclusion of bounds on the available actuator torques leads to the adoption of an acceleration-level motion generation scheme. Therefore, the new planner must operate in a task-constrained state space extended with time. The generated trajectories are collision-free, obey velocity and torque bounds, and satisfy the task constraint with arbitrary accuracy. The effectiveness of the proposed approach is shown by results on various scenarios involving a 7-dof manipulator.
ISSN:1050-4729
DOI:10.1109/ICRA.2014.6907130