Efficient prioritized inverse kinematic solutions for redundant manipulators
Efficient prioritized inverse kinematic solutions for redundant manipulators
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DOI：
10.1109/iros.2005.1545255
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发表时间：
2005-12
期刊：
影响因子：
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通讯作者：
Luis Guilamo;J. Kuffner;K. Nishiwaki;S. Kagami
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文献类型：
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作者：
Luis Guilamo;J. Kuffner;K. Nishiwaki;S. Kagami
在本文中，我们探讨了预处理技术，旨在有效地将工作空间的冗余度机械手的配置空间。利用不断增加的可用性的内存，我们预先计算的数据库在线使用，允许快速查询关节配置具有高的可操作性。这样的系统对于执行到达和操纵任务、在线力控制以及快速计算路径规划算法的目标配置是有用的。我们已经实现了一个原型系统的数字人版本的人形机器人平台2（DH-HRP 2），我们使用它来有效地计算手臂逆运动学的解决方案。我们证明了这样一个系统的好处，适用于转换工作空间轨迹配置空间轨迹。尽管我们已经将该技术应用于寻找具有高可操作性的关节配置，但我们的方法可以推广到各种不同的优先级措施，这些措施可用于评估冗余机械手的逆运动学解。
In this paper, we explore preprocessing techniques aimed at efficiently mapping the workspace to the configuration space for redundant manipulators. Exploiting the increasing availability of memory we precompute a database for online use that allows fast querying of joint configurations with high manipulability. Such a system is useful for performing reaching and manipulation tasks, online force control, and quickly computing goal configurations for path planning algorithms. We have implemented a prototype system on the digital human version humanoid robot platform 2 (DH-HRP2) which we use to efficiently compute arm inverse kinematic solutions. We demonstrate the benefits of such a system applied to converting workspace trajectories to configuration space trajectories. Although we have applied the technique to finding joint configurations with high manipulability, our approach can be generalized to a variety of different priority measures that may be used for evaluating inverse kinematic solutions for redundant manipulators.