This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a 7-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.
@article{arxiv.2402.05037,
title = {Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC},
author = {Ainoor Teimoorzadeh and Frederico Fernandes Afonso Silva and Luis F. C. Figueredo and Sami Haddadin},
journal= {arXiv preprint arXiv:2402.05037},
year = {2024}
}