Year: 2008
Type: conference-paper
Abstract: Human interaction introduces two main constraints: safety and comfort. Therefore service robot manipulator canpsilat be controlled like industrial robotic manipulator where personnel is isolated from the robotpsilas work envelope. In this paper, we present a soft motion trajectory planner to try to ensure that these constraints are satisfied. This planner can be used on-line to establish visual and force control loop suitable in presence of human. The cubic trajectories build by this planner are good candidates as output of a manipulation task planner. The obtained system is then homogeneous from task planning to robot control. The soft motion trajectory planner limits jerk, acceleration and velocity in cartesian space using quaternion. Experimental results carried out on a Mitsubishi PA10-6CE arm are presented.
Authors: X. Broquere, D. Sidobre, I. Herrera-Aguilar
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2038662471