Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution
Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution
复制标题
多元函数的连续伪逆：在全局冗余解析中的应用
DOI：
10.1007/978-3-030-43089-4_32
复制
发表时间：
2017
影响因子：
1.8
通讯作者：
Kris K. Hauser
中科院分区：
文献类型：
--
作者：
Kris K. Hauser
本文试图生成一个函数的连续伪逆，该函数将高维紧集映射到低维紧集。如果可能的话，应达到连续性和平滑性，否则应尽量减少不连续边界的体积。提出了一种基于采样的近似技术，该技术使用了域和图像的离散化路线图，并最小化了逆函数的不连续性。将该方法应用于具有多个工作空间维度的冗余度机器人的运动冗余度解析。输出是一个全局冗余分辨率，它具有方便的性质，即每当机器人返回到相同的工作空间点时，它都使用相同的关节空间位姿。如果无法找到全局分辨率，则该方法将不连续性最小化，并将它们映射到工作空间中。结果证明了玩具问题高达20自由度，并在几个机器人手臂。
This paper seeks to generate a continuous pseudoinverse of a function that maps a higher dimensional compact set to a lower dimensional one. Continuity and smoothness should be attained if possible, but otherwise the volume of the discontinuity boundary should be minimized. A sampling-based approximation technique is presented that uses discretized roadmaps of both the domain and image, and minimizes discontinuities of the inverse function. The method is applied to kinematic redundancy resolution for redundant robots, which have more degrees of freedom than workspace dimensions. The output is a global redundancy resolution, which has the convenient property that whenever the robot returns to the same workspace point, it uses the same joint-space pose. If a global resolution cannot be found, then the method minimizes discontinuities and maps them in workspace. Results are demonstrated on toy problems with up to 20 DOF, and on several robot arms.