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D3.2 Report and Software for real-time and offline motion planning approaches (Module#7) - ABSTRACT
This deliverable aims at describing the scientific and technical results achieved within task T3.2 “Dynamic planning and scheduling for robot tasks considering human needs” within WP3. Sharework wants to overcome that in industrial practice the trajectories are computed offline, they do not consider the current human position, and the speed is modified accordingly to static safety zones in industrial practice.
The core of the approach investigated in Sharework consists of the integration of a stochastic description for the human tasks inside the motion planning algorithms.
The D3.2 will describe the four different software modules that build up the Motion Planner, and that cover all the different needs in term of motion planning: it can be used at the task design time (selection of the best-expected trajectory before the execution), it can be used in
runtime (local deviation in term of velocities and/or path), it allows the anytime re-planning, and it provides the utilities to simplify basic skills for the robot.