Title
CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics.
Abstract
A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved with a quadratic, nonlinear, or model predictive optimization-based approach, or a set-based task-priority inverse kinematics approach. The optimization-based approaches are described relation to the set-based task approach, and a novel multidimensional in tangent cone function is presented for set-based tasks. A ROS component is provided, and the controllers are tested with matching a pose using either transformation matrices or dual quaternions, trajectory tracking while remaining a bounded workspace, maximizing manipulability during a tracking task, tracking an input markeru0027s position, and force compliance.
Year
Venue
DocType
2019
arXiv: Robotics
Journal
Volume
Citations 
PageRank 
abs/1901.06713
0
0.34
References 
Authors
0
3
Name
Order
Citations
PageRank
Mathias Hauan Arbo112.09
Esten I. Grøtli211812.96
Jan Tommy Gravdahl332743.60