A convex programming approach to the inverse kinematics problem for manipulators under constraints

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• 作者：Franco Blanchini^a ; ^{franco.blanchini@uniud.it} ; Gianfranco Fenu^b ; ^{fenu@units.it} ; Giulia Giordano^c ; ^{giulia.giordano@control.lth.se} ; Felice Andrea Pellegrino^b ; ^{fapellegrino@units.it}
• 关键词：Robotic manipulators ; Inverse kinematics ; Convex programming ; Constraints
• 刊名：European Journal of Control
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：33
• 期：Complete
• 页码：11-23
• 全文大小：1485 K
• 卷排序：33

文摘

We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particular, linear constraints in the workspace) are easily managed with the proposed approach. We also show how to exploit the idea for avoiding obstacles while tracking a reference end-effector trajectory and discuss how to extend the results to some kinds of non-planar manipulators. Simulation results are reported, showing the effectiveness of the approach.