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.
Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints
Faroni MarcoPrimo
Membro del Collaboration Group
;Beschi ManuelSecondo
Membro del Collaboration Group
;Pedrocchi NicolaCo-ultimo
Membro del Collaboration Group
;
2018
Abstract
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.File in questo prodotto:
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Descrizione: Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints
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Descrizione: Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints
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