2024/08/29 by Lingyun Chen, Chen, Lingyun, Haoyu Yu +7
Computer Science · Engineering · #Advanced Manufacturing and Logistics Optimization #FOS: Computer and information sciences #Optimization and Packing Problems #Robotic Path Planning Algorithms #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2408.16420
openalex publication_date 2024/08/29 · openalex created_date 2024/09/22 · openalex updated_date 2026/08/01
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.