Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866910581909356544 |
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| author | Chen, Lingyun Yu, Haoyu Naceri, Abdeldjallil Swikir, Abdalla Haddadin, Sami |
| author_facet | Chen, Lingyun Yu, Haoyu Naceri, Abdeldjallil Swikir, Abdalla Haddadin, Sami |
| contents | Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints and object stability. Here, we introduce a physical model for object stability and propose a novel trajectory planning approach for non-prehensile transportation along arbitrary straight lines in 3D space. Validation with a 7-DoF Franka Panda robot confirms improved transportation speed via tray rotation integration while ensuring object stability and robot motion constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_16420 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D Chen, Lingyun Yu, Haoyu Naceri, Abdeldjallil Swikir, Abdalla Haddadin, Sami Robotics Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints and object stability. Here, we introduce a physical model for object stability and propose a novel trajectory planning approach for non-prehensile transportation along arbitrary straight lines in 3D space. Validation with a 7-DoF Franka Panda robot confirms improved transportation speed via tray rotation integration while ensuring object stability and robot motion constraints. |
| title | Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.16420 |