统一接口实现协作机械臂实时低层运动规划，跨平台兼容性强。
One Interface, Many Robots: Unified Real-Time Low-Level Motion Planning for Collaborative Arms
- 用多项式插值加二次规划生成平滑连续轨迹，控制位置速度加速度。
- 三类场景验证：画图、抓取移动物体、远程操控另一机械臂操作。
- 接口简洁灵活，适合多机器人系统快速部署与协同应用。
本文提出一种适用于协作机械臂实时低层运动规划的通用接口，旨在提升在异构硬件平台间的可扩展性与可移植性。此前工作引入了 WinGs 操作工作室（WOS），作为中间件抽象多样化机器人组件并提供语言无关的 API 套件。本文聚焦其最小且灵活的末端执行器轨迹控制接口。通过结合 n 阶多项式插值器与二次规划求解器，该方法生成具有精确位置、速度和加速度特性的平滑连续轨迹。我们在三种不同场景中验证了该方法：第一，在离线演示中，协作臂精准绘制多种几何图形；第二，在可中断、低频重规划场景下，机械臂成功抓取放置于移动机器人上的动态物体；第三，开展远程操作实验，一台机械臂控制另一台完成一系列灵巧操作，验证了该方法的可靠性、通用性与易用性。
原文摘要 · Abstract (English)
This paper proposes a common interface for real-time low-level motion planning of collaborative robotic arms, aimed at enabling broader applicability and improved portability across heterogeneous hardware platforms. In previous work, we introduced WinGs Operating Studio (WOS), a middleware solution that abstracts diverse robotic components into uniform software resources and provides a broad suite of language-agnostic APIs. This paper specifically focuses on its minimal yet flexible interface for real-time end-effector trajectory control. By employing an n-degree polynomial interpolator in conjunction with a quadratic programming solver, the proposed method generates smooth, continuously differentiable trajectories with precise position, velocity, and acceleration profiles. We validate our approach in three distinct scenarios. First, in an offline demonstration, a collaborative arm accurately draws various geometric shapes on paper. Second, in an interruptible, low-frequency re-planning setting, a robotic manipulator grasps a dynamic object placed on a moving mobile robot. Finally, we conducted a teleoperation experiment in which one robotic arm controlled another to perform a series of dexterous manipulations, confirming the proposed method's reliability, versatility, and ease of use.
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