Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
<|reference_start|>Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC: This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in which the outer-loop MPC performs real-time smoothing of the manipulator's end-effector twist while an inner-loop kinematic controller ensures tracking of the instantaneous desired end-effector pose. Experiments on a $7$-DoF Franka Emika Panda robotic manipulator validate the proposed method demonstrating its application to constraint the robot twists, accelerations and jerks within prescribed bounds.<|reference_end|>
@article{teimoorzadeh2024smooth,
    title={Smooth real-time motion planning based on a cascade dual-quaternion
  screw-geometry MPC},
    author={Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F.C.
  Figueredo, Sami Haddadin},
    journal={arXiv preprint arXiv:2402.05037},
    year={2024},
    archivePrefix={arXiv},
    eprint={2402.05037},
    primaryClass={cs.RO cs.SY eess.SY}
}