A convex programming approach to the inverse kinematics problem for manipulators under constraints
(2017) In European Journal of Control 33. p.11-23- Abstract
- 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... (More)
- 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/edcb75c4-fd89-4ed5-89f8-0f866268d6d6
- author
- Blanchini, Franco ; Fenu, Gianfranco ; Giordano, Giulia LU and Pellegrino, Felice Andrea
- organization
- publishing date
- 2017
- type
- Contribution to journal
- publication status
- published
- subject
- in
- European Journal of Control
- volume
- 33
- pages
- 11 - 23
- publisher
- Lavoisier
- external identifiers
-
- scopus:85000979423
- wos:000393253200002
- ISSN
- 0947-3580
- DOI
- 10.1016/j.ejcon.2016.09.001
- language
- English
- LU publication?
- yes
- id
- edcb75c4-fd89-4ed5-89f8-0f866268d6d6
- date added to LUP
- 2016-11-26 14:50:16
- date last changed
- 2022-04-24 19:30:36
@article{edcb75c4-fd89-4ed5-89f8-0f866268d6d6,
abstract = {{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.}},
author = {{Blanchini, Franco and Fenu, Gianfranco and Giordano, Giulia and Pellegrino, Felice Andrea}},
issn = {{0947-3580}},
language = {{eng}},
pages = {{11--23}},
publisher = {{Lavoisier}},
series = {{European Journal of Control}},
title = {{A convex programming approach to the inverse kinematics problem for manipulators under constraints}},
url = {{http://dx.doi.org/10.1016/j.ejcon.2016.09.001}},
doi = {{10.1016/j.ejcon.2016.09.001}},
volume = {{33}},
year = {{2017}},
}