RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion
RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion
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DOI：
10.15607/rss.2018.xiv.043
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发表时间：
2018-06
期刊：
影响因子：
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通讯作者：
D. Rakita;Bilge Mutlu;Michael Gleicher
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作者：
D. Rakita;Bilge Mutlu;Michael Gleicher
-我们提出了一种名为 RelaxedIK 的机器人操纵器实时运动合成方法，它不仅能够像传统 IK 解算器那样精确匹配末端执行器姿势目标，而且还能创建平滑、可行的运动，避免关节空间不连续、自碰撞和运动学奇点。为了即时实现这些目标，我们将标准 IK 公式转换为加权和非线性优化问题，这样除了末端执行器姿态匹配之外，运动目标也可以编码为和中的项。我们提出了一种标准化程序，以便我们的方法能够有效地进行权衡，以同时协调许多可能相互竞争的目标。使用这些权衡，我们的公式允许在与给定时间被认为更重要的其他功能发生冲突时放宽功能。我们在从 5-DOF 到 8-DOF 的七个机器人平台上的几个几何和现实世界任务中，将性能与最先进的 IK 解算器和实时运动规划方法进行了比较。我们表明，我们的方法实现了有效遵循位置和方向末端执行器目标的运动，而不牺牲运动可行性，从而与基线方法相比，可以更成功地执行任务。
—We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK , that is able to not only accurately match end-effector pose goals as done by traditional IK solvers, but also create smooth, feasible motions that avoid joint-space discontinuities, self-collisions, and kinematic singularities. To achieve these objectives on-the-fly, we cast the standard IK formulation as a weighted-sum non-linear optimization problem, such that motion goals in addition to end-effector pose matching can be encoded as terms in the sum. We present a normalization procedure such that our method is able to effectively make trade-offs to simultaneously reconcile many, and potentially competing, objectives. Using these trade-offs, our formulation allows features to be relaxed when in conflict with other features deemed more important at a given time. We compare performance against a state-of-the-art IK solver and a real-time motion-planning approach in several geometric and real-world tasks on seven robot platforms ranging from 5-DOF to 8-DOF. We show that our method achieves motions that effectively follow position and orientation end-effector goals without sacrificing motion feasibility, resulting in more successful execution of tasks compared to the baseline approaches.