Inverse kinematics by means of convex programming: Some developments

Franco Blanchini; Gianfranco Fenu; Giulia Giordano; Felice Andrea Pellegrino

doi:10.1109/CoASE.2015.7294131

Inverse kinematics by means of convex programming: Some developments

Franco Blanchini, Gianfranco Fenu, Giulia Giordano, Felice Andrea Pellegrino

ELLIIT: the Linköping-Lund initiative on IT and mobile communication

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.

Original language	English
Title of host publication	IEEE International Conference on Automation Science and Engineering
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	515-520
Number of pages	6
Volume	2015-October
ISBN (Print)	9781467381833
DOIs	https://doi.org/10.1109/CoASE.2015.7294131
Publication status	Published - 2015 Oct 7
Event	11th IEEE International Conference on Automation Science and Engineering, CASE 2015 - Gothenburg, Sweden Duration: 2015 Aug 24 → 2015 Aug 28

Conference

Conference	11th IEEE International Conference on Automation Science and Engineering, CASE 2015
Country/Territory	Sweden
City	Gothenburg
Period	2015/08/24 → 2015/08/28

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/CoASE.2015.7294131

Cite this

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title = "Inverse kinematics by means of convex programming: Some developments",

abstract = "A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.",

author = "Franco Blanchini and Gianfranco Fenu and Giulia Giordano and Pellegrino, {Felice Andrea}",

year = "2015",

month = oct,

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doi = "10.1109/CoASE.2015.7294131",

language = "English",

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volume = "2015-October",

pages = "515--520",

booktitle = "IEEE International Conference on Automation Science and Engineering",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "11th IEEE International Conference on Automation Science and Engineering, CASE 2015 ; Conference date: 24-08-2015 Through 28-08-2015",

}

Blanchini, F, Fenu, G, Giordano, G & Pellegrino, FA 2015, Inverse kinematics by means of convex programming: Some developments. in IEEE International Conference on Automation Science and Engineering. vol. 2015-October, 7294131, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 515-520, 11th IEEE International Conference on Automation Science and Engineering, CASE 2015, Gothenburg, Sweden, 2015/08/24. https://doi.org/10.1109/CoASE.2015.7294131

Inverse kinematics by means of convex programming: Some developments. / Blanchini, Franco; Fenu, Gianfranco; Giordano, Giulia et al.
IEEE International Conference on Automation Science and Engineering. Vol. 2015-October IEEE - Institute of Electrical and Electronics Engineers Inc., 2015. p. 515-520 7294131.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Inverse kinematics by means of convex programming

T2 - 11th IEEE International Conference on Automation Science and Engineering, CASE 2015

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AU - Pellegrino, Felice Andrea

PY - 2015/10/7

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N2 - A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.

AB - A novel approach to the problem of inverse kinematics for redundant manipulators has been recently introduced: by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Such a problem can be solved in an efficient way and may be easily modified to include constraints due to obstacles. Here we present further developments of the idea. In particular, for the case of planar robots, we show (i) how to impose hard constraints on the joint angles while preserving the convexity of the problem, and (ii) how to add constraints due to objects (for instance, a load carried by the robot) that are rigidly attached to some part of the robot.

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VL - 2015-October

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EP - 520

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PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

Y2 - 24 August 2015 through 28 August 2015

ER -

Inverse kinematics by means of convex programming: Some developments

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