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Document type:
Zeitschriftenaufsatz 
Author(s):
Pekarovskiy, A.; Nierhoff, T.; Hirche, S.; Buss, M. 
Title:
Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators 
Abstract:
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...    »
 
Keywords:
conhumo, ramcip, Manipulation planning, motion adaptation, motion control, path planning for manipulators 
Journal title:
IEEE Transactions on Robotics (T-RO) 
Year:
2017 
Journal volume:
34 
Year / month:
2017-09 
Month:
Sep 
Journal issue:
Pages contribution:
166-182 
Reviewed:
ja 
Language:
en 
Print-ISSN:
1552-3098 
E-ISSN:
1941-0468 
Date of publication:
01.02.2018 
Semester:
SS 17