论文标题
基于约束的任务规范和轨迹优化，用于顺序操作
Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation
论文作者
论文摘要
要在经济上部署机器人操纵器，机器人动作的编程和执行必须迅速。为此，我们提出了一种基于新颖的，基于约束的方法来直观地指定顺序操作任务，并为这种任务规范计算时间优势的机器人运动。我们的方法遵循基于约束的任务规范的思想，目的是建立最小和以对象为中心的任务描述，该描述在很大程度上与基础机器人运动学无关。我们将此任务描述转换为非线性优化问题。通过解决此问题，我们获得了（本地）时间优势的机器人运动，而不仅仅是用于一次运动，而是用于整个操作序列。我们在一系列涉及五个不同的机器人模型（包括高度冗余的移动操纵器）的实验中演示了我们方法的功能。
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute time-optimal robot motions for such a task specification. Our approach follows the ideas of constraint-based task specification by aiming for a minimal and object-centric task description that is largely independent of the underlying robot kinematics. We transform this task description into a non-linear optimization problem. By solving this problem we obtain a (locally) time-optimal robot motion, not just for a single motion, but for an entire manipulation sequence. We demonstrate the capabilities of our approach in a series of experiments involving five distinct robot models, including a highly redundant mobile manipulator.
