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Title:

Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators

Document type:
Zeitschriftenaufsatz
Author(s):
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...     »
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:
1
Pages contribution:
166-182
Reviewed:
ja
Language:
en
Fulltext / DOI:
doi:10.1109/TRO.2017.2765666
Print-ISSN:
1552-3098
E-ISSN:
1941-0468
Date of publication:
01.02.2018
Semester:
SS 17
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