Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints | Zendy

Marco Faroni | Zendy; Manuel Beschi | Zendy; Nicola Pedrocchi | Zendy; Antonio Visioli | Zendy

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Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints

Author(s) -

Marco Faroni,

Manuel Beschi,

Nicola Pedrocchi,

Antonio Visioli

Publication year - 2019

Publication title -

ieee transactions on robotics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 2.027

H-Index - 159

eISSN - 1941-0468

pISSN - 1552-3098

DOI - 10.1109/tro.2018.2871439

Subject(s) - kinematics , inverse kinematics , task (project management) , trajectory , computer science , scaling , inverse , robot kinematics , robot , control theory (sociology) , differential (mechanical device) , control engineering , artificial intelligence , mathematics , engineering , mobile robot , geometry , physics , classical mechanics , control (management) , aerospace engineering , systems engineering , astronomy

The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements a task-scaling technique to preserve the desired geometrical task, when the trajectory is infeasible for the robot capabilities. Simulation results demonstrate the effectiveness of the methodology.

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