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

被引：59

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

页码：278 / 285

页数：8

共 40 条

[1] A new on-line algorithm for inverse kinematics of robot manipulators ensuring path tracking capability under joint limits [J].