Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK

Autor:	Morasso, Cristian, Meli, Daniele, Divet, Yann, Sessa, Salvatore, Farinelli, Alessandro
Rok vydání:	2024
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and flexibility of operation, but solving Inverse Kinematics (IK) is challenging. In this work, we introduce VO-FABRIK, an algorithm combining Forward and Backward Reaching Inverse Kinematics (FABRIK) for repeatable deterministic IK computation, and an approach inspired from velocity obstacles to perform path planning under collision and joint limits constraints. We show preliminary results on an industrial HRM with 19 actuated joints. Our algorithm achieves good performance where a state-of-the-art IK solver fails. Comment: In publication in Springer Proceedings for the European Robotics Forum 2024
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2403.05399 Zobrazit plný text záznamu View this record from Arxiv