Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts
Published
Conference Paper
This paper considers a shortcutting heuristic to smooth jerky trajectories for many-DOF robot manipulators subject to collision constraints, velocity bounds, and acceleration bounds. The heuristic repeatedly picks two points on the trajectory and attempts to replace the intermediate trajectory with a shorter, collision-free segment. Here, we construct segments that interpolate between endpoints with specified velocity in a time-optimal fashion, while respecting velocity and acceleration bounds. These trajectory segments consist of parabolic and straight-line curves, and can be computed in closed form. Experiments on reaching tasks in cluttered human environments demonstrate that the technique can generate smooth, collision-free, and natural-looking motion in seconds for a PUMA manipulator and the Honda ASIMO robot. ©2010 IEEE.
Full Text
Duke Authors
Cited Authors
- Hauser, K; Ng-Thow-Hing, V
Published Date
- August 26, 2010
Published In
Start / End Page
- 2493 - 2498
International Standard Serial Number (ISSN)
- 1050-4729
International Standard Book Number 13 (ISBN-13)
- 9781424450381
Digital Object Identifier (DOI)
- 10.1109/ROBOT.2010.5509683
Citation Source
- Scopus