三维非抓取物体运输的时间优化轨迹规划
机器人学
2024-08-30 v1
摘要
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints and object stability. Here, we introduce a physical model for object stability and propose a novel trajectory planning approach for non-prehensile transportation along arbitrary straight lines in 3D space. Validation with a 7-DoF Franka Panda robot confirms improved transportation speed via tray rotation integration while ensuring object stability and robot motion constraints.
引用
@article{arxiv.2408.16420,
title = {Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D},
author = {Lingyun Chen and Haoyu Yu and Abdeldjallil Naceri and Abdalla Swikir and Sami Haddadin},
journal= {arXiv preprint arXiv:2408.16420},
year = {2024}
}
备注
Accepted to the European Robotic Forum (ERF) 2024