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arXiv · 2408.16420

Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D

Lingyun Chen·Haoyu Yu·Abdeldjallil Naceri·Abdalla Swikir·Sami Haddadin
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Abstract

Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints and object stability. Here, we introduce a physical model for object stability and propose a novel trajectory planning approach for non-prehensile transportation along arbitrary straight lines in 3D space. Validation with a 7-DoF Franka Panda robot confirms improved transportation speed via tray rotation integration while ensuring object stability and robot motion constraints.

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Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami Haddadin. 2024-08-29. Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D. https://arxiv.org/abs/2408.16420

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