Title
Analytical Inverse Kinematics Solver for Anthropomorphic 7-DOF Redundant Manipulators with Human-Like Configuration Constraints.
Abstract
It is a common belief that service robots shall move in a human-like manner to enable natural and convenient interaction with a human user or collaborator. In particular, this applies to anthropomorphic 7-DOF redundant robot manipulators that have a shoulder-elbow-wrist configuration. On the kinematic level, human-like movement then can be realized by means of selecting a redundancy resolution for the inverse kinematics (IK), which realizes human-like movement through respective nullspace preferences. In this paper, key positions are introduced and defined as Cartesian positions of the manipulator's elbow and wrist joints. The key positions are used as constraints on the inverse kinematics in addition to orientation constraints at the end-effector, such that the inverse kinematics can be calculated through an efficient analytical scheme and realizes human-like configurations. To obtain suitable key positions, a correspondence method named wrist-elbow-in-line is derived to map key positions of human demonstrations to the real robot for obtaining a valid analytical inverse kinematics solution. A human demonstration tracking experiment is conducted to evaluate the end-effector accuracy and human-likeness of the generated motion for a 7-DOF Kuka-LWR arm. The results are compared to a similar correspondance method that emphasizes only the wrist postion and show that the subtle differences between the two different correspondence methods may lead to significant performance differences. Furthermore, the wrist-elbow-in-line method is validated as more stable in practical application and extended for obstacle avoidance.
Year
DOI
Venue
2017
10.1007/s10846-016-0449-6
Journal of Intelligent and Robotic Systems
Keywords
Field
DocType
Human-like motion,Inverse kinematics,Redundancy resolution,Correspondance problem
Obstacle avoidance,Kinematics equations,Kinematics,Inverse kinematics,Control theory,321 kinematic structure,Solver,Engineering,Robot,Cartesian coordinate system
Journal
Volume
Issue
ISSN
86
1
0921-0296
Citations 
PageRank 
References 
5
0.49
19
Authors
3
Name
Order
Citations
PageRank
Weihui Liu150.49
Dian-Sheng Chen23411.70
Jochen J. Steil391087.50