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New Inverse Kinematics Algorithms Combining Closed Form Solutions with Nonlinear Optimization for Highly Redundant Robotic Systems

Konietschke, Rainer and Hirzinger, Gerd (2009) New Inverse Kinematics Algorithms Combining Closed Form Solutions with Nonlinear Optimization for Highly Redundant Robotic Systems. In: Proceedings. ICRA2009, International Conference on Robotics and Automation, 12. Mai - 17. Mai 2009, Kobe, Japan.

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Abstract

This paper presents inverse position kinematics algorithms with real time capability for Justin, a robotic system with high redundancy and many degrees of freedom. The combination of closed form solutions for parts of the kinematic chain embedded in a nonlinear equation solver is shown to be advantageous. The algorithms are evaluated with the DLR service robot Justin both in simulation and reality. Calculation times of 1 ms are achieved, including various optimization criteria for redundancy resolution. In case only a single arm with 7 DoF is considered, fast calculation time of 250 s is reached. With inclusion of an iterative step, reachability can be shown in more than 99% of the calculations regardless of the initial guess. The problem of weighting in multi-criteria optimization problems remains, though in the chosen approach the tool tip position is never compromised by other criteria due to the partially closed form solution. The presented algorithm can be applied to inverse position kinematics for all manipulators with serial or tree structure and redundant joints in case closed form solutions are available for parts of the kinematic chain.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:New Inverse Kinematics Algorithms Combining Closed Form Solutions with Nonlinear Optimization for Highly Redundant Robotic Systems
Authors:
AuthorsInstitution or Email of Authors
Konietschke, Rainerrainer.konietschke@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Date:12 May 2009
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Inverse Kinematics, Nonlinear Optimization
Event Title:ICRA2009, International Conference on Robotics and Automation
Event Location:Kobe, Japan
Event Type:international Conference
Event Dates:12. Mai - 17. Mai 2009
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:14 Jan 2010 17:08
Last Modified:12 Dec 2013 20:52

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