Time-Optimized Trajectory Planning for Non-Prehensile Object Transportation in 3D

TL;DR

This paper presents a novel trajectory planning method for non-prehensile object transportation in 3D that optimizes for speed while ensuring object stability and respecting robot constraints, validated on a 7-DoF robot.

Contribution

It introduces a physical model for object stability and a new planning approach that integrates tray rotation to enhance transportation speed in non-prehensile tasks.

Findings

Improved transportation speed with tray rotation integration

Validated approach on a 7-DoF robot confirming stability and constraint adherence

Effective trajectory planning for unstable objects in 3D space

Abstract

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.