Terminal-Aware Cost Function을 이용한 임업 로봇 Tool Passive Joint의 최소 시간 도달 및 종단 흔들림 저감 경로계획

초록

This paper presents a terminal-aware global planning cost for a forestry robot with passive tool joints. The planner adopts a VP-STO-style actuated trajectory representation and focuses on the cost design rather than modifying the trajectory parameterization. For each candidate trajectory, passive joint dynamics are evaluated using a rigid-body model, and the post-terminal response is predicted after the actuated joints reach the goal. The proposed objective penalizes the arrival time, actuated smoothness, post-terminal passive equilibrium error, and post-terminal passive kinetic energy. Unlike full-path sway suppression, the proposed formulation does not strongly penalize passive motion during the reaching phase, allowing fast and dynamic motion while selecting trajectories with reduced residual sway after arrival. The method is implemented with Pinocchio-based dynamics and is intended for validation in MuJoCo simulation.

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