Inverse kinematics by means of convex programming: Some developments

Franco Blanchini, Gianfranco Fenu, Giulia Giordano, Felice Andrea Pellegrino

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: 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. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.

Original languageEnglish
Title of host publication2015 IEEE Conference on Automation Science and Engineering
Subtitle of host publicationAutomation for a Sustainable Future, CASE 2015
PublisherIEEE
Pages515-520
Number of pages6
Volume2015-October
ISBN (Electronic)9781467381833
DOIs
Publication statusPublished - 7 Oct 2015
Externally publishedYes
Event11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden
Duration: 24 Aug 201528 Aug 2015

Conference

Conference11th IEEE International Conference on Automation Science and Engineering, CASE 2015
CountrySweden
CityGothenburg
Period24/08/1528/08/15

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    Blanchini, F., Fenu, G., Giordano, G., & Pellegrino, F. A. (2015). Inverse kinematics by means of convex programming: Some developments. In 2015 IEEE Conference on Automation Science and Engineering: Automation for a Sustainable Future, CASE 2015 (Vol. 2015-October, pp. 515-520). [7294131] IEEE. https://doi.org/10.1109/CoASE.2015.7294131