Variation in task requirements and operation in uncertain environments require robots that can continuously adapt their motions during execution. To do this successfully, the original motion characteristics must be preserved. This paper presents an approach for on-line adaptation of end-effector trajectories for robot manipulators. The trajectory generator aims to preserve the shape of a given model trajectory through its coordinate-invariant shape description. In addition, this trajectory generator is coupled to a task specification and control framework that enables reactive behavior of the robot. Simulation results on the UR10 robot indicate the capability of the developed approach to generalize end-effector trajectories towards new targets while preserving the original trajectory shape. The controller's reactivity is shown towards moving targets and obstacles in the environment. The combination of shape preservation and reactive control may endow robots with better on-line motion generalization capabilities.

中文翻译：

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机器人末端执行器轨迹的保形和反应适应

任务要求的变化和不确定环境中的操作要求机器人能够在执行过程中不断调整其运动。要成功做到这一点，必须保留原始运动特征。本文提出了一种在线适应机器人机械手末端执行器轨迹的方法。轨迹生成器旨在通过其坐标不变的形状描述来保留给定模型轨迹的形状。此外，该轨迹生成器与任务规范和控制框架耦合，使机器人能够做出反应性行为。UR10 机器人的仿真结果表明，所开发的方法能够将末端执行器轨迹泛化到新目标，同时保留原始轨迹形状。控制器' 对环境中移动的目标和障碍物的反应性。形状保持和反应控制的结合可以赋予机器人更好的在线运动泛化能力。