A Smooth Orientation Planner for Trajectories in the Cartesian Space
Andrea Tagliavini, Corrado Guarino Lo Bianco
Abstract
Trajectories in the operational space, when conceived for manipulators with more then three degrees of freedom, impose the adoption of an orientation primitive for the end-effector. The planning complexity increases if smoothness represents one of the motion requirements and the trajectory is obtained through the combination of several basic primitives. In this eventuality, vibrations and mechanical solicitations can be reduced by avoiding motion stops at the end of each segment. Good tracking performances can be conversely achieved by guaranteeing jerk-continuous reference signals for the actuators. The orientation planner proposed in this paper allows the smart generation of smooth trajectories. As experimentally proved in the work, the novel planning primitive is characterized by very short computational times.
BibTeX
@inproceedings{ral2023_asmoothorientati,
title = {A Smooth Orientation Planner for Trajectories in the Cartesian Space},
author = {Andrea Tagliavini and Corrado Guarino Lo Bianco},
booktitle = {RA-L 2023},
year = {2023}
}