Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
CoRR(2024)
摘要
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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