An Optimization Based Inverse Kinematics of Redundant Robots Avoiding Obstacles and Singularities

Chembuly, V. V. M. J. Satish; Voruganti, Hari K.

doi:10.1145/3132446.3134888

Cited by 7 publications

(7 citation statements)

References 17 publications

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“…Huang et al [11] classify methods for mitigating the adverse effects of singularities into (1) damped least-squares regularization of the robot Jacobian [12,13,14], which encompasses tracking eigenvalues to set the regularization coefficient [15,16], (2) null-space control of redundant manipulators [17,18,19,20], and (3) interpolation of joint angles between inverse-kinematic solutions on each side of the singularity. Chembuly and Vorganti (2017) [21] control a redundant planar robot without the eigenvalue decomposition in the null-space methods. Buss and Kim [22] apply a varying amount of regularization to different eigenvalues to effect greater control near the singularity.…”

Section: Prior Methodsmentioning

confidence: 99%

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Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Milenkovic

2021

Robotica

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An unexpected path reversal is discovered for a serial robot with an offset-axis wrist over a finite range of proximity to the wrist singularity. This is replicated by a kinematic model. A prior spherical-wrist method transits the singularity with limited joint rate and acceleration under a constant rate of tool traversal. Accurate position is maintained by controlling a small deviation in orientation. Extensions to the method for an offset wrist (1) find the least-maximum deviation, (2) identify and locate where a path reversal occurs, and (3) use this point to control step size in a high-order predictor-correction path following procedure.

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Section: Prior Methodsmentioning

confidence: 99%

“…for n joints and γ [k] is a scalar [21]. Multiple guiding coefficients are elements of column vector γ…”

Section: Conflicts Of Interest the Author Declares Has Nonementioning

confidence: 99%

Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Milenkovic

2021

Robotica

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“…Bagheri et al [21] utilized neural networks to determine the IK solutions for 6 DOF robot. Satish and Hari [22] used an optimization-based approach to determine IK solutions for a redundant manipulator in a cluttered environment with constraints of obstacle and singularities avoidance. This algorithm also eliminates the use of the inverse of Jacobian to increase the computation effectiveness [22].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping

Reddy

Chembuly

Rao

2023

Journal of Robotics and Control

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The development of autonomous robots for agricultural applications includes motion planning, fruit picking, and collision avoidance with surrounding environments, and these become challenging tasks. For harvesting applications, robust control of the manipulator is needed for the effective motion of the robot. Several combinations of Proportional(P)- Integrative(I)- Derivative(D) controllers are modelled and a simulation study was performed for trajectory tracking of a redundant manipulator in virtual agricultural environments. The article presents a comprehensive study on kinematic modelling and dynamic control of redundant manipulator for fruit-picking applications in virtual environments. The collisions with surrounding environment were eliminated using ‘bounding box technique’. The joint variables are obtained by constructing Inverse Kinematics (IK) problem and are determined using a classical optimization technique. Different controllers are modelled in the ‘Simulink’ environment and are tuned to generate error-free trajectory tracking during harvesting. The task space locations (TSLs) are considered as via-points, and joint variables at each TSLs are obtained by Sequential Quadratic Programming (SQP) technique. Joint-level trajectories are generated using Quintic and B-spline polynomials. For effective trajectory tracking, torque variations are controlled using the PID and Feedforward (FF) controller. The dynamic simulations of the robot manipulator are performed in Simscape Multibody software. Results show that the during the trajectory tracking of the manipulator, the Feed-forward controller performs best with Quintic polynomial trajectory.

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“…Despite its fast solving speed and high accuracy, the analytical method is only applicable to manipulators with simple structures. For complex, geometrically structured systems, the solution of their nonlinear trigonometric equations is too complex and does not always have analytical expressions, so the analytical solution cannot be guaranteed [6]. In this case, it is necessary to use the iterative method and optimization method.…”

Section: Introductionmentioning

confidence: 99%

A Novel Method for Inverse Kinematics Solutions of Space Modular Self-Reconfigurable Satellites with Self-Collision Avoidance

Zhang

et al. 2022

Aerospace

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Space modular self-reconfigurable satellites (SMSRSs) are a new type of satellite with reconfigurable structures and adjustable functions. The inverse kinematics of the hyper-redundant structure of SMSRSs are difficult to solve by traditional methods. In this paper, the inverse kinematics of SMSRS is transformed into an optimization problem and solved using the optimization method. Moreover, the avoidance of self-collision is implemented in the optimization process. Firstly, the kinematic model of SMSRS is established. Then, to find the more accurate inverse kinematics solutions, a novel Segmented Hybrid CMA-ES and PSO (SHCP) algorithm is proposed. The algorithm is used for three cases of inverse kinematic problems, and the optimization results prove the optimization method is effective to solve the inverse kinematic problem with self-collision avoidance. Compared to the results of PSO variants, meta-heuristic algorithms, and hybrid algorithms, the novel algorithm has higher accuracy, proving its better performance on the inverse kinematics problem of SMSRS.

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An Optimization Based Inverse Kinematics of Redundant Robots Avoiding Obstacles and Singularities

Cited by 7 publications

References 17 publications

Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Optimal path crossing the orientation exclusion zone of a robot with offset wrist

Modelling and Simulation of a Redundant Agricultural Manipulator with Virtual Prototyping

A Novel Method for Inverse Kinematics Solutions of Space Modular Self-Reconfigurable Satellites with Self-Collision Avoidance

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