A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators
| Autor: | Philipp Altoe, Wolfgang Wiedmeyer, Christoph Ledermann, Jonathan Auberle, Torsten Kröger |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Inverse kinematics Computer science Mechanical Engineering Biomedical Engineering 02 engineering and technology Kinematics Serial manipulator Computer Science Applications Computer Science::Robotics Human-Computer Interaction Acceleration 020901 industrial engineering & automation Redundancy (information theory) Artificial Intelligence Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Motion planning |
| Zdroj: | IEEE Robotics and Automation Letters. 6:431-438 |
| ISSN: | 2377-3774 |
| Popis: | Using a closed-form inverse kinematics solution for motion planning has many advantages compared to traditional numerical approaches, most notably much faster computation times and better suitability for real-time applications. Steady progress has been made to develop an analytic inverse kinematics solution for seven degrees of freedom (DoF) manipulators without joint offsets. Redundancy resolutions have been proposed to push the individual joint angles away from their limits. However, no further objectives are considered in these closed-form solutions. We propose a multi-objective real-time optimization approach that is able to minimize joint velocities and accelerations, while still avoiding joint limits. A closed-form solution to the optimization is derived, which only requires a single intuitive tuning parameter. We provide a free and open-source software implementation of the full kinematics algorithm that covers the complete solution space. The null-space motion resulting from our method is evaluated, achieving faster motion times and smoother arm motions along Cartesian paths in comparison to the state-of-the-art approach. Finally, experimental results with a KUKA iiwa robot are reported. |
| Databáze: | OpenAIRE |
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