Name
Title | ||
|---|---|---|
Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios |
Abstract | ||
|---|---|---|
In this paper, we analyze the effectiveness of a predictive redundancy resolution for constrained manipulators in case of on-line re-planning. The method is suitably modified to cope with re-planning issues, such as possible infeasible motions and position errors. Several re-planning scenarios are evaluated. Their definition is based on the smoothness of the re-planned task with respect to the current state of the robot. This allows a deep investigation of the behavior of the method under different conditions. Simulations results on a 7-degree-of-freedom KUKA LWR IV demonstrate remarkable advantages of the predictive method, both in terms of task error and redundancy exploitation. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1016/j.ifacol.2018.11.548 | IFAC-PapersOnLine |
Keywords | DocType | Volume |
robot manipulators,redundant robots,model predictive control,inverse kinematics,joint limits,optimal redundancy handling,re-planning | Conference | 51 |
Issue | ISSN | Citations |
22 | 2405-8963 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marco Faroni | 1 | 3 | 1.78 |
| Manuel Beschi | 2 | 25 | 10.40 |
| Antonio Visioli | 3 | 224 | 40.89 |