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arXiv · 2402.05037

Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC

Ainoor Teimoorzadeh·Frederico Fernandes Afonso Silva·Luis F. C. Figueredo·Sami Haddadin
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Abstract

This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.

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Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo, Sami Haddadin. 2024-02-07. Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC. https://arxiv.org/abs/2402.05037

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