TY - GEN
T1 - Predictive online inverse kinematics for redundant manipulators
AU - Schuetz, Christoph
AU - Buschmann, Thomas
AU - Baur, Joerg
AU - Pfaff, Julian
AU - Ulbrich, Heinz
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - Determining the optimal solution for the inverse kinematics of redundant robots has been the focus of much previous research. Instantaneous approaches are computationally efficient, but may cause high joint velocities due to their local character. In this paper, we present an efficient implementation of a global approach following Pontryagin's Minimum Principle for online calculation. Within a moving horizon, we exploit the decoupled structure of the resulting optimal control problem by using the conjugate gradient method for solving the nonlinear dynamic problem. Different examples of cost functionals are presented and the real-time capability is shown by applying this approach to a 9-DOF redundant manipulator.
AB - Determining the optimal solution for the inverse kinematics of redundant robots has been the focus of much previous research. Instantaneous approaches are computationally efficient, but may cause high joint velocities due to their local character. In this paper, we present an efficient implementation of a global approach following Pontryagin's Minimum Principle for online calculation. Within a moving horizon, we exploit the decoupled structure of the resulting optimal control problem by using the conjugate gradient method for solving the nonlinear dynamic problem. Different examples of cost functionals are presented and the real-time capability is shown by applying this approach to a 9-DOF redundant manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84929224702&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907600
DO - 10.1109/ICRA.2014.6907600
M3 - Conference contribution
AN - SCOPUS:84929224702
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5056
EP - 5061
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -