Abstract
An experimental setup to test optimal time-jerk trajectories for robotic manipulators is presented in this paper. The setup is used, in this work, to test the execution of smooth motion profiles passing through a sequence of via-points, designed by means of the optimization of a mixed time-jerk cost function. Experimental tests are performed on a Franka Emika robot with seven degrees of freedom equipped with accelerometers to measure the motion-induced oscillations of the end-effector. The experimental results show a good agreement with the numerical tests and demonstrate the feasibility of the approach chosen for optimizing smooth trajectories for robotic manipulators.
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Acknowledgments
This research was supported by the Laboratory for Big Data, IoT, Cyber Security (LABIC) funded by Friuli Venezia Giulia, and the Laboratory for Artificial Intelligence for Human-Robot Collaboration (AI4HRC) funded by Fondazione Friuli. We thank LAMA FVG for the fabrication of the aluminium flange.
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Lozer, F., Scalera, L., Boscariol, P., Gasparetto, A. (2023). An Experimental Setup to Test Time-Jerk Optimal Trajectories for Robotic Manipulators. In: Petrič, T., Ude, A., Žlajpah, L. (eds) Advances in Service and Industrial Robotics. RAAD 2023. Mechanisms and Machine Science, vol 135. Springer, Cham. https://doi.org/10.1007/978-3-031-32606-6_36
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DOI: https://doi.org/10.1007/978-3-031-32606-6_36
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