Prioritized inverse kinematics using QR and cholesky decompositions
Prioritized inverse kinematics using QR and cholesky decompositions
复制标题
使用 QR 和 cholesky 分解优先考虑逆运动学
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Dongheui Lee
中科院分区：
文献类型：
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作者：
Sang;Dongheui Lee
本文提出了基于QR分解（QRD）和Cholesky分解（CLD）的优先逆运动学（PIK）的新方法，目的是将PIK的重要组成部分正交化和反演过程分离开来。这种独特的方法消除了两个过程之间的干扰，这些干扰通常会导致优先逆解的不准确和有时不稳定。解释了QRD的两个退化性质，并给出了修正阻尼最小二乘伪逆和数值修正的补救措施。通过二维情况下的n连杆机械臂和三维情况下的KUKA LWR的运动学仿真验证了该方法的有效性。
This paper proposes new methods for the prioritized inverse kinematics (PIK) by using the QR decomposition (QRD) and the Cholesky decomposition (CLD) on the purpose of separation between orthogonalization and inversion processes that are essential parts of the PIK. The distinctive approach eliminates the interference between two processes which usually induces inaccuracy and sometimes instability on the prioritized inverse solutions. Two degenerate properties of using the QRD are explained and the remedies are provided as the modified damped least-squares pseudoinverse and the numerical reconditioning. The effectiveness are examined by the kinematic simulations with the n-link manipulators in the two-dimensional case and the KUKA LWR in the three-dimensional case.