Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts


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