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  • 标题:Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios
  • 本地全文:下载
  • 作者:Marco Faroni ; Manuel Beschi ; Antonio Visioli
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2018
  • 卷号:51
  • 期号:22
  • 页码:238-243
  • DOI:10.1016/j.ifacol.2018.11.548
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractIn 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.
  • 关键词:Keywordsrobot manipulatorsredundant robotsmodel predictive controlinverse kinematicsjoint limitsoptimal redundancy handlingre-planning
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