GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
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High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast – such as when the object being transported has an open-top, is fragile, or both. One way to avoid spills or damage, is to move the arm slowly. We propose Grasp-Optimized Motion Planning for Fast Inertial Transport (GOMP-FIT), a time-optimizing motion planner based on our prior work, that includes constraints based on accelerations at the robot end-effector. With GOMP-FIT, a robot can perform high-speed motions that avoid obstacles and use inertial forces to its advantage. In experiments transporting open-top containers with varying tilt tolerances, whereas GOMP computes sub-second motions that spill up to 90 the contents during transport, GOMP-FIT generates motions that spill 0 contents while being slowed by as little as 0 30 15-degree tolerances and few obstacles.
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