Manipulation planning: building paths on constrained manifolds - Archive ouverte HAL Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2016

Manipulation planning: building paths on constrained manifolds

Résumé

Constrained motion planning and Manipulation planning, for generic non-linear constraints, highly rely on the ability of solving non-linear equations. The Newton-Raphson method, often used in this context, is discontinuous with respect to its input and point wise path projection can lead to discontinuous constrained paths. The discontinuities come from the pseudo-inverse involved at each iteration of the Newton-Raphson algorithm. An interval of continuity for one iteration is derived from an upper bound of the norm of the Hessian of the constraints. Such a bound is easy to compute for constraints involving joint positions and orientations. We introduce two heuristical path projection algorithms and empirically show that they generate continuous constrained paths. The algorithms are integrated into a motion planning algorithm to empirically assert the continuity of the solution.
Fichier principal
Vignette du fichier
output.pdf (504.71 Ko) Télécharger le fichier
video.mp4 (8.9 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01360409 , version 1 (05-09-2016)
hal-01360409 , version 2 (21-09-2016)
hal-01360409 , version 3 (18-09-2017)

Identifiants

  • HAL Id : hal-01360409 , version 3

Citer

Joseph Mirabel, Florent Lamiraux. Manipulation planning: building paths on constrained manifolds. 2016. ⟨hal-01360409v3⟩
331 Consultations
1081 Téléchargements

Partager

Gmail Facebook X LinkedIn More