Time-Optimal Path Parameterization for Cooperative Multi-Arm Robotic Systems with Third-Order Constraints
Dio M, Graichen K, Völz A (2024)
Publication Type: Conference contribution
Publication year: 2024
Journal
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 3043-3048
Conference Proceedings Title: IEEE International Conference on Intelligent Robots and Systems
Event location: Abu Dhabi
ISBN: 9798350377705
DOI: 10.1109/IROS58592.2024.10802342
Abstract
This paper presents a time-optimal path parameterization (TOPP) method for cooperative multi-arm robotic systems (MARS) manipulating heavy objects with third-order constraints that include jerk, torque rate and wrench rate limits. The method is based on a problem reformulation as a sequential linear program and provides a unified planning approach that is faster than previous convex optimization techniques. The equivalence to a reachability-based TOPP is shown and simulation results for a cooperative MARS consisting of two 7 degree of freedom (DOF) robots and a tightly grasped object with 6 DOFs are provided.
Authors with CRIS profile
Maximilian Dio
Chair of Automatic Control (LRT/AC)
Knut Graichen
Chair of Automatic Control (LRT/AC)
Andreas Völz
Chair of Automatic Control (LRT/AC)
Related research project(s)
How to cite
APA:
Dio, M., Graichen, K., & Völz, A. (2024). Time-Optimal Path Parameterization for Cooperative Multi-Arm Robotic Systems with Third-Order Constraints. In IEEE International Conference on Intelligent Robots and Systems (pp. 3043-3048). Abu Dhabi, AE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Dio, Maximilian, Knut Graichen, and Andreas Völz. "Time-Optimal Path Parameterization for Cooperative Multi-Arm Robotic Systems with Third-Order Constraints." Proceedings of the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi Institute of Electrical and Electronics Engineers Inc., 2024. 3043-3048.
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