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

Konietschke, Rainer und 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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Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:New Inverse Kinematics Algorithms Combining Closed Form Solutions with Nonlinear Optimization for Highly Redundant Robotic Systems
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Konietschke, Rainerrainer.konietschke@dlr.de
Hirzinger, GerdGerd.Hirzinger@dlr.de
Datum:12 Mai 2009
Erschienen in:Proceedings
Referierte Publikation:Ja
In ISI Web of Science:Nein
Status:veröffentlicht
Stichwörter:Inverse Kinematics, Nonlinear Optimization
Veranstaltungstitel:ICRA2009, International Conference on Robotics and Automation
Veranstaltungsort:Kobe, Japan
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:12. Mai - 17. Mai 2009
Veranstalter :IEEE
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Gabriele Beinhofer
Hinterlegt am:14 Jan 2010 17:08
Letzte Änderung:12 Dez 2013 20:52

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