The paper presents BoundMPC, a novel online model-predictive trajectory planner for robotic manipulators. This planner allows the collision-free following of Cartesian reference paths in the end-effector’s position and orientation, including via-points, within desired asymmetric bounds of the orthogonal path error. The planner can efficiently replan pose trajectories during the robot’s motion, making it suitable for dynamic environments and varying goals. The functionality of BoundMPC is demonstrated through two scenarios involving a 7-DoF KUKA LBR iiwa 14 R820 robot.
Publication date: 12 Jan 2024
Project Page: Not provided
Paper: https://arxiv.org/pdf/2401.05057
