Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D
<|reference_start|>Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D: Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints and object stability. Here, we introduce a physical model for object stability and propose a novel trajectory planning approach for non-prehensile transportation along arbitrary straight lines in 3D space. Validation with a 7-DoF Franka Panda robot confirms improved transportation speed via tray rotation integration while ensuring object stability and robot motion constraints.<|reference_end|>
@article{chen2024time-optimized,
    title={Time-Optimized Trajectory Planning for Non-Prehensile Object
  Transportation in 3D},
    author={Lingyun Chen, Haoyu Yu, Abdeldjallil Naceri, Abdalla Swikir, Sami
  Haddadin},
    journal={arXiv preprint arXiv:2408.16420},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.16420},
    primaryClass={cs.RO}
}