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

Blanchini, Franco; Fenu, Gianfranco; Giordano, Giulia LU and Pellegrino, Felice Andrea (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)
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author
organization
publishing date
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
2018-01-07 11:37:17
@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},
  volume       = {33},
  year         = {2017},
}