Soft Motion Trajectory Planning and Control for Service Manipulator Robot

One important difference between industrial robotic manipulators and service robot applications is the human interaction, which introduce safety and comfort constraints. In this paper, we define soft motions conditions to facilitate this cohabitation. We propose an on-line trajectory planner that generates the necessary references to produce soft motion and a control loop that guarantees the end effector’s motion characteristics (jerk, acceleration, velocity and position) in the Cartesian space, by using quaternion feedback. We propose two visual feedback control loops: a visual servoing control loop in a shared position vision schema and a visual guided loop. Experimental results carried out on a Mitsubishi PA10-6CE arm are presented.