文章基本信息

标题：Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios
本地全文：下载
作者：Marco Faroni ; Manuel Beschi ; Antonio Visioli 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：22
页码：238-243
DOI：10.1016/j.ifacol.2018.11.548
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we analyze the effectiveness of a predictive redundancy resolution for constrained manipulators in case of on-line re-planning. The method is suitably modified to cope with re-planning issues, such as possible infeasible motions and position errors. Several re-planning scenarios are evaluated. Their definition is based on the smoothness of the re-planned task with respect to the current state of the robot. This allows a deep investigation of the behavior of the method under different conditions. Simulations results on a 7-degree-of-freedom KUKA LWR IV demonstrate remarkable advantages of the predictive method, both in terms of task error and redundancy exploitation.
关键词：Keywordsrobot manipulatorsredundant robotsmodel predictive controlinverse kinematicsjoint limitsoptimal redundancy handlingre-planning