Online Via-Points Trajectory Generation for Reactive Manipulations*

Ran Zhao (1) , Daniel Sidobre (1) , Wuwei He (1)

1 LAAS-RIS - Équipe Robotique et InteractionS

In various circumstances, such as human-robot interactions and industrial processes, planning at trajectory level is very useful to produce better movement. In this paper we present a near time optimal approach to plan a trajectory joining via points in real time for robot manipulators. To limit the speed variation, the path is smoothed around via-points in a limited area. The concept of online trajectory generation enables systems to react instantaneously at control level to unforeseen events. Simulation and real-world experimental results carried out on a KUKA Light-Weight Robot arm are presented.

Mots clés: Online trajectory generation

Domaines: Robotique [cs.RO]

Ran Zhao, Daniel Sidobre, Wuwei He. Online Via-Points Trajectory Generation for Reactive Manipulations*. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2014, Besançon, France. ⟨10.1109/AIM.2014.6878252⟩. ⟨hal-01764048⟩