Online Computation of Time-Optimization-Based, Smooth and Path-Consistent Stop Trajectories for Robots
Enforcing the cessation of motion is a common action in robotic systems to avoid the damage that the robot can exert on itself, its environment or, in shared environments, people. This procedure raises two main concerns, which are addressed in this paper. On the one hand, the stopping procedure shou...
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Format: | Article |
Language: | English |
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MDPI
2022
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Online Access: | View Fulltext in Publisher |
LEADER | 01734nam a2200205Ia 4500 | ||
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001 | 10.3390-robotics11040070 | ||
008 | 220718s2022 CNT 000 0 und d | ||
020 | |a 22186581 (ISSN) | ||
245 | 1 | 0 | |a Online Computation of Time-Optimization-Based, Smooth and Path-Consistent Stop Trajectories for Robots |
260 | 0 | |b MDPI |c 2022 | |
856 | |z View Fulltext in Publisher |u https://doi.org/10.3390/robotics11040070 | ||
520 | 3 | |a Enforcing the cessation of motion is a common action in robotic systems to avoid the damage that the robot can exert on itself, its environment or, in shared environments, people. This procedure raises two main concerns, which are addressed in this paper. On the one hand, the stopping procedure should respect the collision free path computed by the motion planner. On the other hand, a sudden stop may produce large current peaks and challenge the limits of the motor’s control capabilities, as well as degrading the mechanical performance of the system, i.e., increased wear. To address these concerns, we propose a novel method to enforce a mechanically feasible, smooth and path-consistent stop of the robot based on a time-minimization algorithm. We present a numerical implementation of the method, as well as a numerical study of its complexity and convergence. Finally, an experimental comparison with an off-the-shelf stopping scheme is presented, showing the effectiveness of the proposed method. © 2022 by the authors. Licensee MDPI, Basel, Switzerland. | |
650 | 0 | 4 | |a optimization |
650 | 0 | 4 | |a robot stopping scheme |
650 | 0 | 4 | |a stopping trajectory |
650 | 0 | 4 | |a trajectory planning |
700 | 1 | |a Giusti, A. |e author | |
700 | 1 | |a Rojas, R.A. |e author | |
700 | 1 | |a Vidoni, R. |e author | |
773 | |t Robotics |