The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements a task-scaling technique to preserve the desired geometrical task, when the trajectory is infeasible for the robot capabilities. Simulation results demonstrate the effectiveness of the methodology.
Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints
M. Faroni;M. Beschi;A. Visioli
2019-01-01
Abstract
The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements a task-scaling technique to preserve the desired geometrical task, when the trajectory is infeasible for the robot capabilities. Simulation results demonstrate the effectiveness of the methodology.File in questo prodotto:
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