Manipulation Planning Using Wave Variables
Phongsaen Pitakwatchara, Jetnipit Arunrat
Abstract
There are plenty of low-level controllers for the robots to perform manipulation tasks. Most of them require specifying of either reference motion or force as the input. However, motion or force planning to interact with unstructured environment is very difficult. This letter proposes the use of wave variables which facilitate the computation of suitable reference motion or force through the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">wave planner</i> framework. The notion is to specify the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">supplied power</i> , via input wave, instead of desired <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">motion</i> or <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">force</i> . Input wave will be resolved into motion and force according to the port impedance. The method ensures safe manipulation when applying to passive control systems. Experimental results show advantages of using this wave planner with the impedance and force controllers.
BibTeX
@inproceedings{ral2022_manipulationplan,
title = {Manipulation Planning Using Wave Variables},
author = {Phongsaen Pitakwatchara and Jetnipit Arunrat},
booktitle = {RA-L 2022},
year = {2022}
}