Smooth Point-to-Point Trajectory Planning in $SE$ (3)with Self-Collision and Joint Constraints Avoidance
Reinhard M. Grassmann, Lars Johannsmeier, Sami Haddadin · 2018
In this paper we introduce a novel point-to-point trajectory planner for serial robotic structures that combines the ability to avoid self-collisions and to respect motion constraints, while complying with the requirement of being C4continuous. The latter property makes our approach also suited for 4th order dynamics flexible joint robots, which gained significant practical relevance recently. In particular, we address the problem of generating a smooth, kinematically nearly time-optimal SE(3) trajectory while simultaneously avoiding potential collisions of the robot end-effector with its base as well as respecting the Cartesian unreachable states induced by the joint limits of the proximal kinematic structure.