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Trajectory Generation and Control for a High-DOF Articulated Robot with Dynamic Constraints

  • Marc Spirig
  • Ralf Kaestner
  • Dizan Vasquez
  • Roland Siegwart
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6359)

Abstract

In this paper, we propose a novel and alternative approach to the task of generating trajectories for an articulated robot with dynamic constraints. We demonstrate that by focusing the effort on the generation process, the design of a trajectory controller becomes a straightforward problem. Our method is efficient and particularly suited for applications involving high-DOF articulated systems such as robotics arms or legs. We claim that our algorithm can be easily implemented by roboticists that do not share a deep background in control theory. Nevertheless, the resulting trajectories ensure a robust state-of-the-art control performance. We show, in simulation and practice, that the approach is well prepared for integration with graph-based planning techniques and yields smooth trajectories.

Keywords

Path Planning Constraint Violation Dynamic Constraint Bezier Curve Velocity Limit 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Marc Spirig
    • 1
  • Ralf Kaestner
    • 1
  • Dizan Vasquez
    • 1
  • Roland Siegwart
    • 1
  1. 1.ETH ZurichSwitzerland

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