Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking

Scherzinger, Stefan; Roennau, Arne; Dillmann, Rüdiger

doi:10.1109/icar46387.2019.8981554

Cited by 14 publications

(9 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This choice was made to demonstrate that the presented algorithms do not rely on the availability of special haptic interfaces. The Cartesian pose control of the UR16e was realized using the inverse kinematics algorithm presented in [17]. The control loops were set to a frequency of 500 Hz running on a laptop with an Intel Core i7-9570H CPU.…”

Section: Resultsmentioning

confidence: 99%

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Fennel

Zea

Mangler

et al. 2022

IEEE Control Syst. Lett.

Self Cite

View full text Add to dashboard Cite

The programming of manipulators is a common task in robotics, for which numerous solutions exist. In this work, a new programming method related to the common master-slave approach is introduced, in which the master is replaced by a digital twin created through haptic and visual rendering. To achieve this, we present an algorithm that enables the haptic rendering of any programmed robot with a serial manipulator on a general-purpose haptic interface. The results show that the proposed haptic rendering reproduces the kinematic properties of the programmed robot and directly provides the desired joint space trajectories. In addition to a stand-alone usage, we demonstrate that the proposed algorithm can be easily paired with existing visual technology for virtual and augmented reality to facilitate a highly immersive programming experience.

show abstract

Section: Resultsmentioning

confidence: 99%

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Fennel

Zea

Mangler

et al. 2022

IEEE Control Syst. Lett.

Self Cite

View full text Add to dashboard Cite

show abstract

“…We use a forward dynamics-based control approach Fig. 3: Dynamics-based IK solver from our previous work [16], adapted to the notation of this paper. After internal iterations, the solver converges to a set of simulated joint positions θ that best correspond to the given target pose.…”

Section: B Motion Tracking and Inverse Kinematicsmentioning

confidence: 99%

“…of our previous work [16] for solving the IK problem during tracking the target pose X . Its implementation is available open-source 1 .…”

Section: B Motion Tracking and Inverse Kinematicsmentioning

confidence: 99%

A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

Scherzinger¹,

Becker²,

Roennau³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

Assistive robotic manipulators are becoming increasingly important for people with disabilities. Teleoperating the manipulator in mundane tasks is part of their daily lives. Instead of steering the robot through all actions, applying self-recorded motion skills could greatly facilitate repetitive tasks. Dynamic Movement Primitives (DMP) are a powerful method for skill learning. For this use case, however, they need a simple heuristic to specify where to start and stop a skill without additional sensors. This paper provides the concept of local, global, and hybrid skills that form a modular basis for composing single-handed tasks with ease. A focus is on presenting the necessary mathematical details to support custom implementations with assistive robot arms. Experiments validate the developed methods for scratching an itchy spot, sorting objects on a desk, and feeding a piggy bank with coins. The paper is accompanied by an open-source implementation at https://github.com/fzi-forschungszentrum-informatik/ArNe This research has been funded by the Federal Ministry of Education and Research of Germany (BMBF) within the project ArNe in the framework of Robotic Systems in Health Care (project number 16SV8412)

show abstract

“…in [27] for pure force control and in [9], [28] for compliance control. An application to motion control with a particular focus on sparsely sampled targets is presented in [10].…”

Section: Control Applicationsmentioning

confidence: 99%

“…This is surprising, because it represents a straightforward mapping from Cartesian wrench space to joint accelerations. While we used this method to control robots in previous work [9], [10], the new contribution of this paper is an in-depth analysis of particular features of this mapping and an evaluation against other well-established methods. The goal and novelty is a drop-in-replacement for the Jacobian inverse and DLS in controllers for velocity-actuated robots.…”

Section: Introductionmentioning

confidence: 99%

Virtual Forward Dynamics Models for Cartesian Robot Control

Scherzinger¹,

Roennau²,

Dillmann³

2020

Preprint

Self Cite

View full text Add to dashboard Cite

In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct access to the actuators behind velocity or position controlled interfaces. Using wrist force-torque sensors to add compliance to these systems, force-resolved control laws must map the control signals from Cartesian space to joint motion. Although forward dynamics algorithms would perfectly fit to that task description, their application to Cartesian robot control is not well researched. This paper proposes a general concept of virtual forward dynamics models for Cartesian robot control and investigates how the forward mapping behaves in comparison to well-established alternatives. Through decreasing the virtual system's link masses in comparison to the end effector, the virtual system becomes linear in the operational space dynamics. Experiments focus on stability and manipulability, particularly in singular configurations. Our results show that through this trick, forward dynamics can combine both benefits of the Jacobian inverse and the Jacobian transpose and, in this regard, outperforms the Damped Least Squares method.

show abstract

Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking

Cited by 14 publications

References 10 publications

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

A practical DMPs Implementation for Skill Creation and Teleoperation with Assistive Manipulators

Virtual Forward Dynamics Models for Cartesian Robot Control

Contact Info

Product

Resources

About