Paper Info
Title
Minimizing the number of iterations when computing a base pose for manipulation by mobile base inclusion in the inverse kinematics
Abstract
One of the most fundamental skills of a domestic service robot is the ability to manipulate objects. Hereto, the end-effector must be positioned accurately in Cartesian space. To move the end-effector to its desired pose, a suitable end-pose for the mobile platform and a corresponding configuration of the manipulator and possibly torso must be found. To determine the optimal base pose, it is common to compute manipulator configurations corresponding to a large number of possible base poses, requiring a large number of IK computations with each a number of samples or iterations with corresponding time-consuming collision checks. This paper demonstrates how the total number of required iterations can be minimized by computing a single IK solution for the kinematic chain including the base kinematics and using the result as the base pose for manipulation. As a secondary objective, the distance to joint limits is maximized. A further reduction in the total number of iterations can be achieved by only constraining translations and rotations that need to be constrained for the task at hand.
Year
DOI
Venue
2013
10.1109/ICAR.2013.6766569
ICAR
Keywords
Field
DocType
iterative methods,manipulator kinematics,mobile robots,service robots,cartesian space,base kinematics,domestic service robot,end-effector,inverse kinematics,iterations,kinematic chain,manipulator configurations,mobile base inclusion,mobile platform,object manipulation,optimal base pose
Kinematics equations,Kinematics,Inverse kinematics,Control theory,Algorithm,Kinematic chain,Mobile robot,Mathematics,Service robot,Cartesian coordinate system,Mobile manipulator
Conference
Citations 
PageRank 
References 
0
0.34
7
Authors
3
Name
Order
Citations
PageRank
Lunenburg, J.110.71
van de Molengraft, R.200.34
Maarten Steinbuch365896.53