Optimal Robot Motion Generation Respecting Position-Dependent Safety Constraints
Konferenz: ISR Europe 2023 - 56th International Symposium on Robotics
26.09.2023-27.09.2023 in Stuttgart, Germany
Tagungsband: ISR Europe 2023
Seiten: 8Sprache: EnglischTyp: PDF
Autoren:
Clever, Debora; Stuhlenmiller, Florian; Wahrburg, Arne; Matthias, Bjoern; Enayati, Nima (ABB AG, Ladenburg, Germany)
Inhalt:
The paper proposes an optimization-based motion planner that is capable of handling position-dependent safety con-straints, such as zone-based tool speed limitation. Making use of implicitly defined surfaces