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Real-time quintic Hermite interpolation for robot trajectory execution

Real-time quintic Hermite interpolation for robot trajectory execution

Kategori
Vitenskapelig artikkel
Sammendrag
This paper presents a real-time joint trajectory interpolation system for the purpose of frequency scaling the low cycle time of a robot controller, allowing a Python application to real-time control the robot at a moderate cycle time. Interpolation is based on quintic Hermite piece-wise splines. The splines are calculated in real-time, in a piecewise manner between the high-level, long cycle time trajectory points, while sampling of these splines at an appropriate, shorter cycle time for the real-time requirement of the lower-level system. The principle is usable in general, and the specific implementation presented is for control of the Panda robot from Franka Emika. Tracking delay analysis is presented based on a cosine trajectory. A simple test application has been implemented, demonstrating real-time feeding of a pre-calculated trajectory for cutting with a knife. Estimated forces on the robot wrist are recorded during cutting and presented in the paper.
Oppdragsgiver
  • Research Council of Norway (RCN) / 255596
Språk
Engelsk
Forfatter(e)
Institusjon(er)
  • SINTEF Manufacturing
År
2020
Publisert i
PeerJ Computer Science
ISSN
2376-5992