Efficient Inverse Kinematics for Redundant Manipulators with Collision Avoidance in Dynamic Scenes

被引：0

作者：

Zhao, Liangliang ^{[1
,2
]}

Zhao, Jingdong ^{[1
]}

Liu, Hong ^{[1
]}

Manocha, Dinesh ^{[2
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Heilongjiang, Peoples R China

[2] Univ Maryland, Dept Comp Sci & Elect & Comp Engn, College Pk, MD 20742 USA

来源：

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2018年

基金：

中国国家自然科学基金;

关键词：

MOTION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We present a novel iterative algorithm for inverse kinematics of redundant manipulators in dynamic environments. Our approach uses an iterative approach to generate valid configurations and selects an inverse kinematics solution using a rank-based selection strategy. To avoid the moving obstacles, we combine our inverse kinematics method with a collision avoidance scheme. We highlight the performance of our algorithm on different high DOF manipulators in a dynamic scene.

引用

页码：2502 / 2507

页数：6

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