Efficient and robust trajectory generation for robotic manipulators

被引：0

作者：

Ruiz, Oriol ^{[1
]}

Palomo-Avellaneda, Leopold ^{[1
]}

Suarez, Raul ^{[1
]}

Rosell, Jan ^{[1
]}

机构：

[1] Univ Politecn Cataluna, Inst Ind & Control Engn, Barcelona, Spain

来源：

2022 IEEE 27TH INTERNATIONAL CONFERENCE ON EMERGING TECHNOLOGIES AND FACTORY AUTOMATION (ETFA) | 2022年

关键词：

robotics; robot trajectories; motion planning;

D O I：

10.1109/ETFA52439.2022.9921630

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes a procedure to generate valid robot trajectories for a given sequence of points defining a geometric path, which is a quite frequent output of many robot motion planners. The proposed approach takes into account physical constraints of the robot, as the maximum velocity and the maximum acceleration that each joint can reach, and has been implemented in C++ as a general tool that can be used with different robots.

引用

页数：4

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