Towards online trajectory generation considering robot dynamics and torque limits

Generating robot motion trajectories instantaneously in the moment unforeseen sensor events happen is very essential for many real-world robot applications. Using a previous work on online trajectory generation as a basis, this paper proposes an alternative approach that also considers dynamic models. The former class of algorithms does not take into account dynamically changing acceleration capabilities based on maximum actuator forces/torques. This paper extends target velocity-based algorithms of the previous approach by taking into consideration the entire system dynamics when generating trajectories online within one control cycle (typically 1 ms or less). The extension includes the acceleration capabilities of a robot at every discrete time step assuming constant values for the maximum actuator forces/torques, thus allowing the generation of adaptive trajectory profiles during the motion of the robot. Several real-world experimental results using a seven-degree-of-freedom lightweight robot arm underline the relevance of this extension.