Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation

To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approac...

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Bibliographic Details
Main Authors: Phoon, Mun Seng, Schmitt, Philipp S., Wichert, Georg V.
Format: Conference Proceeding
Language:English
Subjects:
Biological system modeling
Computational modeling
Numerical models
Programming
Robot kinematics
Robot motion
Transforms
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Summary:To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approach follows the ideas of constraint-based task specification by aiming for a minimal and object-centric task description that is largely independent of the underlying robot kinematics. We transform this task description into a non-linear optimization problem. By solving this problem we obtain a (locally) time-optimal robot motion, not just for a single motion, but for an entire manipulation sequence. We demonstrate the capabilities of our approach in a series of experiments involving five distinct robot models, including a highly redundant mobile manipulator.
ISSN:2153-0866
DOI:10.1109/IROS47612.2022.9981909