IEEE Robotics & Automation Magazine - September 2018 - 68
interpolate the waypoint sequence of a motion plan so as to
satisfy the physical limits of a robot, e.g., maximum acceleration and velocity. Given any such interpolation, we use a feedback control law to compute the command for a robot:
qo u ^ t h = qo r ^ t h - k ^q a ^ t h - q r ^ t hh,
(1)
where qo u is the velocity command, qo r is the reference
velocity from the interpolated waypoints, k is a feedback
gain, q a is the actual position, and q r is the interpolated
reference position.
Finally, we must communicate with the robot hardware at
each time step to retrieve the actual state q a and qo a and to
send the velocity command qo u . For example, we would use
Controller Area Network bus message for the Schunk LWA4,
transmission control protocol for the Universal Robot, or
ROS communication for the Rethink Baxter.
Use Case Example
Figure 3 illustrates a use case example of TMKit for a domain
such as the table setting in Figure 1, including the planner's
specific input and output.
Task domain: The task domain block shows the pick-up
action, with its preconditions and effects. This action picks up
an object from a table, so the precondition requires the object
to be on the table and uncovered. The effect is that the robot
holds the object and the object is not on the table. The full
task domain includes similar definitions for other actions,
e.g., to put down objects and unstack objects.
(a)
(b)
(c)
(d)
(e)
(f)
Figure 7. A TM plan to set a table using the Rethink Robotics Baxter. The average planning time for ten trials was 64.8 s on an Intel
Core i7-4790. (a) The initial state, (b) picking the first glass, (c) placing the first glass, (d) placing the second glass, (e) placing the first
bowl, and (f) placing the second bowl.
68
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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september 2018
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
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