Predictive online inverse kinematics for redundant manipulators

Christoph Schuetz; Thomas Buschmann; Joerg Baur; Julian Pfaff; Heinz Ulbrich

doi:10.1109/ICRA.2014.6907600

Predictive online inverse kinematics for redundant manipulators

Christoph Schuetz, Thomas Buschmann, Joerg Baur, Julian Pfaff, Heinz Ulbrich

Chair of Applied Mechanics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

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.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5056-5061
Number of pages	6
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907600
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

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10.1109/ICRA.2014.6907600

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Schuetz, C., Buschmann, T., Baur, J., Pfaff, J., & Ulbrich, H. (2014). Predictive online inverse kinematics for redundant manipulators. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 5056-5061). Article 6907600 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907600

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title = "Predictive online inverse kinematics for redundant manipulators",

abstract = "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.",

author = "Christoph Schuetz and Thomas Buschmann and Joerg Baur and Julian Pfaff and Heinz Ulbrich",

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year = "2014",

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doi = "10.1109/ICRA.2014.6907600",

language = "English",

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Schuetz, C, Buschmann, T, Baur, J, Pfaff, J & Ulbrich, H 2014, Predictive online inverse kinematics for redundant manipulators. in Proceedings - IEEE International Conference on Robotics and Automation., 6907600, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 5056-5061, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907600

Predictive online inverse kinematics for redundant manipulators. / Schuetz, Christoph; Buschmann, Thomas; Baur, Joerg et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 5056-5061 6907600 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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SP - 5056

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BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Schuetz C, Buschmann T, Baur J, Pfaff J, Ulbrich H. Predictive online inverse kinematics for redundant manipulators. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 5056-5061. 6907600. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907600

Predictive online inverse kinematics for redundant manipulators

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