Optimal Robot Motion Generation Respecting Position-Dependent Safety Constraints
Conference: ISR Europe 2023 - 56th International Symposium on Robotics
09/26/2023 - 09/27/2023 at Stuttgart, Germany
Proceedings: ISR Europe 2023
Pages: 8Language: englishTyp: PDF
Authors:
Clever, Debora; Stuhlenmiller, Florian; Wahrburg, Arne; Matthias, Bjoern; Enayati, Nima (ABB AG, Ladenburg, Germany)
Abstract:
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