Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the environment is not available, no consolidated methodology exists to consider the effect of the interaction. Regardless of the specific performance index to optimize, this article proposes a strategy to include external wrenches in the optimal planning algorithm, considering the task specifications. This procedure is instantiated for minimum-time trajectories and validated on a real robot performing an interaction task under admittance control. The results prove that the inclusion of end-effector wrenches affects the planned trajectory, in fact modifying the manipulator's dynamic capability.

Time-Optimal Trajectory Planning With Interaction With the Environment

Petrone, V
;
Ferrentino, E;Chiacchio, P
2022

Abstract

Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by the end-effector when in contact with the environment. When a dynamic model of the environment is not available, no consolidated methodology exists to consider the effect of the interaction. Regardless of the specific performance index to optimize, this article proposes a strategy to include external wrenches in the optimal planning algorithm, considering the task specifications. This procedure is instantiated for minimum-time trajectories and validated on a real robot performing an interaction task under admittance control. The results prove that the inclusion of end-effector wrenches affects the planned trajectory, in fact modifying the manipulator's dynamic capability.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11386/4804213
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