Redundancy modelling and resolution for robotic mobile manipulators: a general approach
Redundancy modelling and resolution for robotic mobile manipulators: a general approach
复制标题
DOI：
10.1080/01691864.2017.1326842
复制
发表时间：
2017-05
影响因子：
2
通讯作者：
Roberto Ancona
中科院分区：
文献类型：
--
作者：
Roberto Ancona
摘要在这项工作中，机器人移动的机械手的运动冗余建模和决议的主题被认为是。引入冗余参数定义了移动的机械臂的一般逆运动学过程。然后，冗余被视为一个非线性优化问题的目的是找到机器人配置，最大限度地提高设计的度量措施。介绍了一些设计优化目标函数的策略，以实现理想的冗余行为，如避障，移动的基本运动减少和灵活性优化。此外，机器人控制器已经开发了以下面向对象的软件体系结构的原则，允许保持它的一般和机器人独立。作为我们的方法的可靠性和通用性的证明，相同的控制器已被用于控制几个不同的移动的机械手在仿真环境中，以及一个真实的库卡youBot机器人。图形摘要
Abstract In this work the topic of kinematic redundancy modelling and resolution for robotic mobile manipulators is considered. A set of redundancy parameters is introduced to define a general inverse kinematic procedure for mobile manipulators. Then, redundancy is treated as a non-linear optimization problem with the purpose of finding robot configurations that maximize the designed metric measures. Some strategies to design the optimization objective function are introduced in order to achieve desirable redundant behaviours, such as obstacles avoidance, mobile base motions reductions and dexterity optimization. Moreover, the robot controller has been developed following an object-oriented software architecture principle that allows to keep it general and robot independent. As a prove of reliability and generality of our approach, the same controller has been used to control several different mobile manipulators in a simulation environment, as well as a real KUKA youBot robot. Graphical Abstract