Robotic Pre-manipulation - Real-Time Polynomial Trajectory Control for Dynamic Object Interception with Minimum Jerk

Arjun Nagendran, Remo Pillat, Robert Richardson

Abstract

This paper presents a method for capturing a free-moving object in the presence of noise and uncertainty with respect to its estimated position and velocity. The approach is based on Hermite polynomials and involves matching the state-space parameters of the object and the end effector at the moment of contact. The method involves real-time re-planning of the robot trajectory whenever new estimates of the object’s motion parameters are available. Continuity in position, velocity, and acceleration is preserved independently of the planning update rate and the resulting trajectories are characterized by low jerk. Compared to other methods that directly solve for higher-order polynomial coefficients, the proposed algorithm is computationally efficient and does not require a linear solver. Experimental results confirm the advantages of this method during real-time interception of a dynamically moving object with continuous velocity estimation and high-frequency re-planning.

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Paper Citation


in Harvard Style

Nagendran A., Pillat R. and Richardson R. (2013). Robotic Pre-manipulation - Real-Time Polynomial Trajectory Control for Dynamic Object Interception with Minimum Jerk . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 417-426. DOI: 10.5220/0004478904170426


in Bibtex Style

@conference{icinco13,
author={Arjun Nagendran and Remo Pillat and Robert Richardson},
title={Robotic Pre-manipulation - Real-Time Polynomial Trajectory Control for Dynamic Object Interception with Minimum Jerk},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={417-426},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004478904170426},
isbn={978-989-8565-70-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Robotic Pre-manipulation - Real-Time Polynomial Trajectory Control for Dynamic Object Interception with Minimum Jerk
SN - 978-989-8565-70-9
AU - Nagendran A.
AU - Pillat R.
AU - Richardson R.
PY - 2013
SP - 417
EP - 426
DO - 10.5220/0004478904170426