Online task space trajectory generation

International audienceAs the kinematic of the robots becomes complex and the task to realize are more and more demanding, we need tools to better define and manipulate the movements of the robots. To cope with this problem, we propose a family of trajectory, which we name the Soft Motion trajectories, defined by polynomial functions of degree three. Based on these trajectories we propose a set of tools to generate trajectories and control the robots. We present some experimental results showing the interest of the approach that unify the data exchanged from the planning level to the control level of the robot