液面揺れのないロボット軌道最適化手法
A Solution to Slosh-free Robot Trajectory Optimization
エンドエフェクタを球面振り子の質点としてモデル化し、二次計画問題として解くことで、液面揺れを抑えた高速搬送軌道を生成する手法を提案し、7自由度ロボットで有効性を検証した。
著者: Rafael I. Cabral Muchacho, Riddhiman Laha, Luis F. C. Figueredo, Sami Haddadin
分類: cs.RO
原文アブストラクト
This paper is about fast slosh free fluid transportation. Existing approaches are either computationally heavy or only suitable for specific robots and container shapes. We model the end effector as a point mass suspended by a spherical pendulum and study the requirements for slosh free motion and the validity of the point mass model. In this approach, slosh free trajectories are generated by controlling the pendulum's pivot and simulating the motion of the point mass. We cast the trajectory optimization problem as a quadratic program; this strategy can be used to obtain valid control inputs. Through simulations and experiments on a 7 DoF Franka Emika Panda robot we validate the effectiveness of the proposed approach.
