The article introduces a new online model-predictive trajectory planner for robotic manipulators, called BoundMPC. This planner allows robots to follow collision-free Cartesian reference paths in dynamic environments. The unique feature of BoundMPC is its ability to maintain desired asymmetric bounds of the orthogonal path error, which makes it very efficient. The performance and flexibility of BoundMPC have been demonstrated experimentally in two different scenarios using a 7-DoF KUKA LBR iiwa 14 R820 robot. This tool can be beneficial in industries and research fields where robots need to interact and react in dynamically changing environments.
Publication date: 12 Jan 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2401.05057
