OPENTECHNICAL PUBLICATION
OT-2026-000001085

Generating a sequence of pose configurations for a robotic manipulator based on force and velocity ellipsoids

Published: 2026-09-15T19:03:51.002123Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001085
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

Techniques for generating pose sequences for a robotic manipulator to perform
a task based on velocity ellipsoids and force ellipsoids are described herein.
For example, a computer system can generate candidate pose configurations of a
robotic manipulator. Each candidate pose configuration can include a first end
of the robotic manipulator being positioned along a trajectory. The computer
system can determine a velocity ellipsoid and a force ellipsoid for each
candidate pose configuration. The computer system can generate a sequence of
pose configurations for the robotic manipulator to perform a task along the
trajectory by minimizing a cost function subject to one or more constraints
based at least in part on (i) the candidate pose configurations, (ii) a first
weight for the velocity ellipsoid, and (iii) a second weight for the force
ellipsoid.

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OpenTechnical publication OT-2026-000001085
Published 2026-09-15T19:03:51.002123Z
https://opentechnical.org/p/OT-2026-000001085