Abstract: Online and instantaneous robot motion generation is an important feature for
robot motion control systems to let robots respond instantaneously to
unforeseen events. An algorithmic concept that enables instantaneous changes
from sensor-guided robot motion control (e.g., force/torque or visual servo
control) to trajectory-following motion control, and vice versa, will be
presented. The resulting class of on-line trajectory generation algorithms
serves as an intermediate layer between low-level motion control and
high-level sensor-based motion planning. Online motion generation from
arbitrary states is an essential feature for autonomous hybrid switched
motion control systems. It enables robotic systems to perform coordinated
and deterministic reflex motions. Samples and use-cases – including
manipulation and human-robot interaction tasks – will accompany the talk in
order to provide a comprehensible insight into this interesting and relevant
field of robotics.
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