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Fast and robust numerical method for inverse kinematics with prioritized multiple targets for redundant robots
Advanced Robotics ( IF 2 ) Pub Date : 2020-06-22 , DOI: 10.1080/01691864.2020.1780151
Masanori Sekiguchi 1 , Naoyuki Takesue 1
Affiliation  

In this paper, a new numerical method for inverse kinematics with prioritized multiple targets is proposed. The proposed method is constructed based on the virtual spring model and joint-based damping control. The targets are prioritized by adjusting the effect of the virtual springs. The proposed method has the following three features. First, it does not require complex calculations such as a Jacobian matrix projection into the null space. Second, it can solve prioritized inverse kinematics problems in the position level without integrating the joint velocity. Third, it is robust to parameter variations and singular configurations. The second feature is motivated by the background that most industrial robots in factories are used as position-controlled robots. Simulation experiments using a 9-DOF redundant robot show that the proposed method is faster and more robust than the conventional method. The proposed method is expected to be useful for helping to avoid collisions between links and obstacles using the redundancy. GRAPHICAL ABSTRACT

中文翻译:

具有优先级多目标的冗余机器人逆向运动学快速而稳健的数值方法

在本文中,提出了一种新的具有优先级多目标逆运动学的数值方法。该方法是基于虚拟弹簧模型和基于关节的阻尼控制构建的。通过调整虚拟弹簧的效果对目标进行优先级排序。所提出的方法具有以下三个特点。首先,它不需要复杂的计算,例如到零空间的雅可比矩阵投影。其次,它可以在不积分关节速度的情况下解决位置级的优先逆运动学问题。第三,它对参数变化和奇异配置具有鲁棒性。第二个特点是由于工厂中大多数工业机器人用作位置控制机器人的背景。使用 9 自由度冗余机器人的仿真实验表明,所提出的方法比传统方法更快、更鲁棒。所提出的方法有望用于帮助避免使用冗余的链接和障碍物之间的碰撞。图形概要
更新日期:2020-06-22
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