TY - JOUR
T1 - A convex programming approach to the inverse kinematics problem for manipulators under constraints
AU - Blanchini, Franco
AU - Fenu, Gianfranco
AU - Giordano, Giulia
AU - Pellegrino, Felice Andrea
PY - 2017/1/1
Y1 - 2017/1/1
N2 - We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particular, linear constraints in the workspace) are easily managed with the proposed approach. We also show how to exploit the idea for avoiding obstacles while tracking a reference end-effector trajectory and discuss how to extend the results to some kinds of non-planar manipulators. Simulation results are reported, showing the effectiveness of the approach.
AB - We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particular, linear constraints in the workspace) are easily managed with the proposed approach. We also show how to exploit the idea for avoiding obstacles while tracking a reference end-effector trajectory and discuss how to extend the results to some kinds of non-planar manipulators. Simulation results are reported, showing the effectiveness of the approach.
KW - Constraints
KW - Convex programming
KW - Inverse kinematics
KW - Robotic manipulators
UR - http://www.scopus.com/inward/record.url?scp=85000979423&partnerID=8YFLogxK
U2 - 10.1016/j.ejcon.2016.09.001
DO - 10.1016/j.ejcon.2016.09.001
M3 - Article
AN - SCOPUS:85000979423
SN - 0947-3580
VL - 33
SP - 11
EP - 23
JO - European Journal of Control
JF - European Journal of Control
ER -