Manipulation Task Planning and Motion Control Using Task Relaxations

Abstract This paper proposes a robotic manipulation task relaxation method applied to and motion planning framework adapted from the literature. The consists of defining regions interest instead end-effector pose, which can potentially increase robot’s redundancy with respect task. Tasks are relaxed by controlling distance target plane while respecting suitable constraints in task-space. We formulate problem as constrained control that enforces both equality inequality being reactive changes workspace. evaluate simulated pick-and-place similar complexity one evaluated original framework. number plan nodes our generates is 54% smaller than faster execution time. Also, remains within moves toward region satisfying additional constraints.