Abstract
The incomplete orientation constraint (IOC), which is not necessary to require an end-effector motion constrained by all three spatial directions, exists widely in practical manipulation tasks. For example, when moving a container of liquid from one place to another, we can rotate the container horizontally or tilt it slightly if it is not full. In our previous work [1], a Composite-space RRT algorithm is presented to solve such a problem for spherical wrist manipulators that plans collision-free paths in the composite space. However, the planned path exhibits shaking or ripple like fluctuations, which will lead to shaking at the robot’s end-effector tool and bad performance of the task. In this paper, we propose a Smooth Composite-space RRT algorithm that combines the Composite-space RRT algorithm with B-spline interpolation method to improve the smoothness of the orientation path. And we demonstrate the effectiveness of our approach on the Willow Garage’s PR2 simulation platform in Robot Operating System (ROS) with two IOC cases.
This Research Supported by China Postdoctoral Project (No. 2021M692960); Center-initiated Research Project of Zhejiang Lab (No.2021NB0AL01); Science and Technology on Space Intelligent Control Laboratory (No. K2022EA2KE01).
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Wang, J., Li, N., Song, W., Du, W., Chen, W. (2023). Smooth Composite-Space RRT: An Improved Motion Planner for Manipulators Under Incomplete Orientation Constraint. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_42
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DOI: https://doi.org/10.1007/978-981-99-6492-5_42
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