Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts

Hauser, Kris; Ng-Thow-Hing, Victor

doi:10.1109/robot.2010.5509683

Cited by 105 publications

(120 citation statements)

References 16 publications

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“…The acceleration constraints are expressed as box-bounds primarily for computational convenience, rather than because of an inherent limitation of our approach. This formulation allows us to quickly compute dynamically-feasible interpolating curves between states, using the method of [11]. The values ofq max are chosen to be a conservative approximation of the torque and power bounds that apply to All user studies are performed on a dynamic simulation based on Open Dynamics Engine (ODE); experiments on the physical robot in our lab are planned in the near future.…”

Section: Problem Definitionmentioning

confidence: 99%

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Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

You¹,

Hauser²

2011

Robotics: Science and Systems VII

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Abstract-This paper studies assisted teleoperation techniques for controlling a 6DOF robot arm using click-and-drag input from a computer mouse. Experiments were conducted to investigate how task performance and user preferences are affected by low-level motion control strategies, which must deal with collision avoidance, dynamics constraints, and erroneous input. Five strategies were implemented and compared. As baseline strategies we study direct joint control and Cartesian positioning via inverse kinematics. We also implemented three obstacle avoidance strategies, including a predictive safety filter, a reactive potential field, and a real-time sample-based motion planner. Blind experimental trials assigned 22 novice subjects to five subgroups corresponding to each strategy and asked them to control the arm in simulation on a variety of reaching tasks in cluttered environments. Unsurprisingly, the obstacle avoidance strategies achieve major safety improvements, although subjects felt noticeably less in control of the robot than those using the baseline methods. The motion planning strategy shows the most promise; it completed tasks twice as fast as any other method and received high ratings for perceived safety, cooperativeness, and overall satisfaction.

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Section: Problem Definitionmentioning

confidence: 99%

“…We used the shortcutting heuristic described in [11] that repeatedly picks two random states on the trajectory, constructs a dynamically feasible interpolating segment between them, and replaces the intermediate portion of the trajectory if the segment is collision free.…”

Section: E Real-time Sample-based Plannermentioning

confidence: 99%

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

You¹,

Hauser²

2011

Robotics: Science and Systems VII

Self Cite

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“…In the literature, many curved formulations including screw motion [14,18], parabolic curves [7] and Bézier curves [17,26] have been used to compute smooth trajectories. In our formulation, we use cubic B-splines to represent the trajectory of rigid or articulated robots.…”

Section: B Spline Representation For Motionmentioning

confidence: 99%

“…It is well known that sample-based planners can sometime generate jerky, unnatural paths that may contain unnecessary turns or the velocities at the vertices may change arbitrarily [7,9,12,28]. Furthermore, these issues become more significant when the free space of the robot has narrow passages [15,29] and the search space for path computation becomes more constrained.…”

Section: Introductionmentioning

confidence: 99%

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Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments

Pan¹,

Zhang

Manocha

2011

Robotics: Science and Systems VII

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Abstract-We present a novel trajectory computation algorithm to smooth jerky collision-free paths computed by samplebased motion planners. Our approach uses cubic B-splines to generate G 2 or curvature continuous trajectories. The algorithm performs local spline refinement to compute smooth, collision-free paths in narrow passages and satisfy velocity and acceleration constraints. We also present a fast and reliable algorithm for collision checking between robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in tight spaces and cluttered environments.

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Time‐delay compensation‐based robust control of mechanical manipulators: Operator‐theoretic analysis and experiment validation

Song,

Kim

2023

Math Methods in App Sciences

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This paper provides a new robust control approach to uncertain mechanical manipulators in the computed torque framework. With respect to the fact that model uncertainties occurring from the framework could make the overall system unstable although the resulting nominal plant is stabilized, this paper develops a readily applicable method for estimating such uncertain elements. More precisely, we propose a time‐delay compensation method, by which prior values relevant to the model uncertainties in a sufficiently small time instant are used for such an estimation. The theoretical effectiveness of the proposed method is validated by establishing the two different arguments on operator‐theoretic exponential stability and Lypaunov‐based disturbance input‐to‐state stability. Finally, some simulation and experiment results are provided to demonstrate the overall arguments developed in this paper for both the theoretical and practical aspects.

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Fast smoothing of manipulator trajectories using optimal bounded-acceleration shortcuts

Cited by 105 publications

References 16 publications

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input

Collision-Free and Curvature-Continuous Path Smoothing In Cluttered Environments

Time‐delay compensation‐based robust control of mechanical manipulators: Operator‐theoretic analysis and experiment validation

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