Abstract
This letter proposes a decoupled two-level modelbased planning strategy and control for a class of robotic tasks involving impact to be made with desired performance and constraints. The first part solves the problem of planning a robotic arm trajectory from a given state (position and velocity) to another desired one, enabling non-stop trajectory cycles. The second part is an impact-aware model-based plugin; it is specific to each task and links the desired task-space impact objective to a via-point in the joint-space. The two parts are then combined to achieve the entire task. Our approach is assessed with realrobot experiments demonstrating how this strategy can be used to perform tossing, grabbing, and boxing or any combination of them in sorting logistics-industry use-cases.