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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2402.05037 |
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| _version_ | 1866917584544202752 |
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| author | Teimoorzadeh, Ainoor Silva, Frederico Fernandes Afonso Figueredo, Luis F. C. Haddadin, Sami |
| author_facet | Teimoorzadeh, Ainoor Silva, Frederico Fernandes Afonso Figueredo, Luis F. C. Haddadin, Sami |
| contents | This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_05037 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC Teimoorzadeh, Ainoor Silva, Frederico Fernandes Afonso Figueredo, Luis F. C. Haddadin, Sami Robotics Systems and Control This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds. |
| title | Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2402.05037 |