"Motion planning for mobile robots using inverse kinematics branching" by Daniel Mark Bodily, Thomas Allen et al.
 

Motion planning for mobile robots using inverse kinematics branching

Keywords

Kinematics, Planning, End effectors, Trajectory, Robot kinematics

Abstract

A novel algorithm for planning robotic manipulation tasks is presented in which the base position and joint motions of a robot are simultaneously optimized to follow a smooth desired end-effector trajectory. During the optimization routine, the manipulator's base position and joint motions are planned simultaneously by strategically moving a set of virtual robot arms (each representing a single configuration in a sequence) branching from a common base to a number of assigned target poses associated with a task. Additional goals (e.g. collision avoidance) and hard constraints, including joint limits are also incorporated. The optimization problem at the core of this method is a quadratic program, allowing constrained high-dimensional problems to be solved in very little time. This method has successfully planned motions allowing an 8-DOF manipulator to paint walls, and has proven to be highly efficient and scalable in practice.

Document Type

Peer-Reviewed Article

Publication Date

2017-05-03

Permanent URL

http://hdl.lib.byu.edu/1877/6016

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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