Abstract
Trajectory prediction is currently attracting considerable attention. This paper proposes geodesic trajectory planning with end-effector and joint constraints to predict the trajectory properties of the end-effector, such as velocities, accelerations, and smoothness. The prediction of the trajectory properties is independent of the joint trajectories. The prediction makes it possible to adjust the trajectory properties in line with a light computational burden. To demonstrate the effectiveness of the proposed method, experiments were conducted using the Efort robot. The experiments show that the proposed method can predict the properties of the trajectory and modify the trajectory to meet the constraints.
Highlights
There are growing interests in trajectory prediction
Trajectory prediction can be classified into two kinds: trajectory prediction for future time and trajectory prediction for future tasks
Little attention has been paid to Cartesian trajectory prediction that predicts the motion performed by the robot end-effector under joint velocity/acceleration constraints
Summary
There are growing interests in trajectory prediction. Trajectory prediction can be classified into two kinds: trajectory prediction for future time and trajectory prediction for future tasks. Joint constraints are often met by optimizing appropriate objective functions, such as keeping the joints close to their range centers [10], using the joint ranges in a weighted pseudo-inversion [11], or defining an infinity norm to be minimized at the velocity levels [12] This method did not track the assigned paths. Inverse kinematics was used to enable joint velocity and acceleration not exceeding their limits [13], which was achieved by scaling the task time. While tracking the constrained end-effector paths, the joint velocity/acceleration constraints can be met by scaling the motion time.
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