An Evaluation of Open Source Trajectory Planners for Robotic Manipulators with Focus on Human-Robot Collaboration

The planning of trajectories for the movement of robotic manipulators improved in recent years. Since many trajectory planners are available to the public as open source software, it is common that these are used in various human-robot interaction scenarios, which again have varying requirements to trajectory planners. This paper spotlights the possible application of available open source trajectory planners in the field of human-robot collaboration. In detail, an evaluation of the applicability of open source trajectory planners in various human-robot collaboration scenarios is described in this paper. Hence, we aim to give recommendations on the usage of available trajectory planners in human-robot collaboration scenarios based on multiple metrics, derived from knowledge on preferences of humans regarding their interaction with cobots.