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Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations

Dahlin, Albin and Karayiannidis, Yiannis LU orcid (2021) In IEEE Robotics and Automation Letters 6(2). p.2233-2239
Abstract
The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking performance. Temporal coupling (online temporal scaling) of DMPs represents a possible way for handling constrained systems. This letter presents a temporal coupling for DMPs to handle velocity and acceleration constraints for the generated trajectory. A novel filter is presented based on a potential function which proactively scales the trajectory before reaching the acceleration limits. In this way, the velocities and accelerations remain... (More)
The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking performance. Temporal coupling (online temporal scaling) of DMPs represents a possible way for handling constrained systems. This letter presents a temporal coupling for DMPs to handle velocity and acceleration constraints for the generated trajectory. A novel filter is presented based on a potential function which proactively scales the trajectory before reaching the acceleration limits. In this way, the velocities and accelerations remain within the limits even for trajectories with aggressive accelerations and stricter bounds. The performance of the proposed method is demonstrated by means of simulations and experiments on a UR10 robot. (Less)
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author
and
publishing date
type
Contribution to journal
publication status
published
subject
in
IEEE Robotics and Automation Letters
volume
6
issue
2
pages
7 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85101434718
ISSN
2377-3766
DOI
10.1109/LRA.2021.3058874
language
English
LU publication?
no
id
1eba271d-8b2d-48e2-9e2a-599f6e7b8e28
date added to LUP
2022-12-14 15:12:11
date last changed
2024-01-29 23:10:42
@article{1eba271d-8b2d-48e2-9e2a-599f6e7b8e28,
  abstract     = {{The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking performance. Temporal coupling (online temporal scaling) of DMPs represents a possible way for handling constrained systems. This letter presents a temporal coupling for DMPs to handle velocity and acceleration constraints for the generated trajectory. A novel filter is presented based on a potential function which proactively scales the trajectory before reaching the acceleration limits. In this way, the velocities and accelerations remain within the limits even for trajectories with aggressive accelerations and stricter bounds. The performance of the proposed method is demonstrated by means of simulations and experiments on a UR10 robot.}},
  author       = {{Dahlin, Albin and Karayiannidis, Yiannis}},
  issn         = {{2377-3766}},
  language     = {{eng}},
  number       = {{2}},
  pages        = {{2233--2239}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Robotics and Automation Letters}},
  title        = {{Temporal Coupling of Dynamical Movement Primitives for Constrained Velocities and Accelerations}},
  url          = {{http://dx.doi.org/10.1109/LRA.2021.3058874}},
  doi          = {{10.1109/LRA.2021.3058874}},
  volume       = {{6}},
  year         = {{2021}},
}