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Inverse kinematics by means of convex programming : Some developments

Blanchini, Franco; Fenu, Gianfranco; Giordano, Giulia LU and Pellegrino, Felice Andrea (2015) 11th IEEE International Conference on Automation Science and Engineering, CASE 2015 In IEEE International Conference on Automation Science and Engineering 2015-October. p.515-520
Abstract

A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: 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. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot)... (More)

A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: 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. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.

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Please use this url to cite or link to this publication:
author
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
IEEE International Conference on Automation Science and Engineering
volume
2015-October
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
11th IEEE International Conference on Automation Science and Engineering, CASE 2015
external identifiers
  • scopus:84952783766
ISBN
9781467381833
DOI
10.1109/CoASE.2015.7294131
language
English
LU publication?
no
id
9ebe6378-9104-4692-ae81-1829a721ae34
date added to LUP
2016-07-06 15:18:31
date last changed
2017-01-29 04:31:10
@inproceedings{9ebe6378-9104-4692-ae81-1829a721ae34,
  abstract     = {<p>A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: 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. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.</p>},
  author       = {Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea},
  booktitle    = {IEEE International Conference on Automation Science and Engineering},
  isbn         = {9781467381833},
  language     = {eng},
  month        = {10},
  pages        = {515--520},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Inverse kinematics by means of convex programming : Some developments},
  url          = {http://dx.doi.org/10.1109/CoASE.2015.7294131},
  volume       = {2015-October},
  year         = {2015},
}