Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints

被引：55
作者：
Faroni, Marco [1 ]
Beschi, Manuel [2 ]
Pedrocchi, Nicola [2 ]
Visioli, Antonio [1 ]
机构：
[1] Univ Brescia, Dept Mech & Ind Engn, I-25123 Brescia, Italy
[2] CNR, Inst Intelligent Ind Syst & Technol Adv Mfg, I-20133 Milan, Italy
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2019年 / 35卷 / 01期
基金：
欧盟地平线“2020”;
关键词：
Inverse kinematics (IK); model predictive control (MPC); motion planning; redundant robots; task priority; trajectory scaling; ROBOTS; SATURATION; INVARIANCE; ALGORITHM; SCHEMES;
D O I：
10.1109/TRO.2018.2871439
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements a task-scaling technique to preserve the desired geometrical task, when the trajectory is infeasible for the robot capabilities. Simulation results demonstrate the effectiveness of the methodology.
引用
收藏
页码：278 / 285
页数：8
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