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Titel:

Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Pekarovskiy, Alexander; Nierhoff, Thomas; Hirche, Sandra; Buss, Martin
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. The...     »
Stichworte:
conhumo; ramcip; Manipulation planning; motion adaptation; motion control; path planning for manipulators
Zeitschriftentitel:
IEEE Transactions on Robotics (T-RO)
Jahr:
2017
Band / Volume:
34
Jahr / Monat:
2017-09
Monat:
Sep
Heft / Issue:
1
Seitenangaben Beitrag:
166-182
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/TRO.2017.2765666
Print-ISSN:
1552-3098
E-ISSN:
1941-0468
Publikationsdatum:
01.02.2018
Semester:
SS 17
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