Title :
Dynamically feasible task-constrained motion planning with moving obstacles
Author :
Cefalo, Massimo ; Oriolo, Giuseppe
Author_Institution :
Dipt. di Ing. Inf., Sapienza Univ. di Roma, Rome, Italy
fDate :
May 31 2014-June 7 2014
Abstract :
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.
Keywords :
collision avoidance; manipulator dynamics; acceleration-level motion generation scheme; collision-free trajectories; dynamically feasible task-constrained motion planning; geometric task constraints; moving obstacles; randomized algorithm; robot dynamically feasible motion planning; Acceleration; Joints; Kinematics; Manipulators; Planning; Torque;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907130