Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning (CROSBI ID 709903)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Petrović, Luka ; Marić, Filip ; Marković, Ivan ; Kelly, Jonathan ; Petrović, Ivan
engleski
Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning
One of the principal challenges in robot arm motion planning is to ensure robot’s agility in case of encountering unforeseeable changes during task execution. It is thus crucial to preserve the ability to move in every direction in task space, which is achieved by avoiding singularities, i.e. states of configuration space where a degree of freedom is lost. To aid in singularity avoidance, existing methods mostly rely on manipulability or dexterity indices to provide a measure of proximity to singular configurations. Recently, a novel geometry-aware singularity index was proposed that circumvents some of the failure modes inherent to manipulability and dexterity. In this paper, we propose a cost function based on this index and integrate it within a stochastic trajectory optimization framework for efficient motion planning with singularity avoidance. We compare the proposed method with existing singularity-aware motion planning techniques, demonstrating improvement in common indices such as manipulability and dexterity and showcasing the ability of the proposed method to handle collision avoidance while retaining agility of the robot arm.
motion planning ; singularity avoidance ; manipulability ; dexterity
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Podaci o prilogu
1-6.
2021.
objavljeno
Podaci o matičnoj publikaciji
International Conference on Control, Automation and Systems (ICCAS)
Podaci o skupu
International Conference on Control, Automation and Systems (ICCAS)
predavanje
12.10.2021-15.10.2021
Jeju City, Republika Koreja ; online