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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