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Authors: Arjun Nagendran 1 ; Remo Pillat 1 and Robert Richardson 2

Affiliations: 1 University of Central Florida, United States ; 2 University of Leeds, United Kingdom

ISBN: 978-989-8565-70-9

Keyword(s): Object Capture, Trajectory Planning, Minimum-Jerk.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Real-Time Systems Control ; Signal Processing, Sensors, Systems Modeling and Control ; Simulation and Modeling ; Symbolic Systems

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 several formats:
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

@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},
}

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

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