Throwing objects with collaborative manipulators using minimum-jerk trajectories

Georgio Simonini, Riccardo Di Majo, Lorenzo Boccalini, Matteo Guerci, Antonio Bicchi, and Paolo Salaris
2023 I-RIM Conference

Abstract

Recently, throwing is gaining even more research interest, especially in logistics, where goods have to be moved efficiently. The throwing approach is difficult because it requires precision in a dynamic task. In this work, we consider the problem in both joint and cartesian space. In joint space, we use an optimization procedure to obtain a trajectory to follow, maximizing the throwing distance. In task space, we use a cartesian controller to throw in a desired position. In both cases, minimum-jerk trajectories are used to have smooth signals and deal with robot constraints, usually present in collaborative robots. The methods are tested on simulations and experiments on the 7 d.o.f Franka Emika Panda.

@inproceedings{simonini2023throwing,
 title=Throwing objects with collaborative manipulators using minimum-jerk 
 trajectories,
 author=Giorgio Simonini, Riccardo Di Majo, Lorenzo Boccalini, Matteo Guerci, 
 Antonio Bicchi and Paolo Salaris,
 booktitle=2023 I-RIM Conference,
 DOI=10.5281/zenodo.10722456,
 pages={54--56},
 year = 2023,
 organization=I-RIM
 }}