Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios

Abstract In this paper, we analyze the effectiveness of a predictive redundancy resolution for constrained manipulators in case of on-line re-planning. The method is suitably modified to cope with re-planning issues, such as possible infeasible motions and position errors. Several re-planning scenarios are evaluated. Their definition is based on the smoothness of the re-planned task with respect to the current state of the robot. This allows a deep investigation of the behavior of the method under different conditions. Simulations results on a 7-degree-of-freedom KUKA LWR IV demonstrate remarkable advantages of the predictive method, both in terms of task error and redundancy exploitation.

[1]  Antonio Visioli,et al.  A Predictive Approach to Redundancy Resolution for Robot Manipulators , 2017 .

[2]  Nikolaos G. Tsagarakis,et al.  OpenSoT: A whole-body control library for the compliant humanoid robot COMAN , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[3]  Dimitrios Papageorgiou,et al.  Kinematic control of redundant robots with guaranteed joint limit avoidance , 2016, Robotics Auton. Syst..

[4]  Angelika Zube.  Cartesian nonlinear model predictive control of redundant manipulators considering obstacles , 2015, 2015 IEEE International Conference on Industrial Technology (ICIT).

[5]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[6]  A. A. Maciejewski,et al.  Obstacle Avoidance , 2005 .

[7]  B. Siciliano,et al.  THE ROLE OF EULER PARAMETERS IN ROBOT CONTROL , 1999 .

[8]  Bruno Siciliano,et al.  Kinematic control of redundant robot manipulators: A tutorial , 1990, J. Intell. Robotic Syst..

[9]  Pierre-Brice Wieber,et al.  Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task , 2011, IEEE Transactions on Robotics.

[10]  Antonio Visioli,et al.  A global approach to manipulability optimisation for a dual-arm manipulator , 2016, 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA).

[11]  Oussama Khatib,et al.  Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space , 2015, IEEE Transactions on Robotics.

[12]  Vincent Padois,et al.  Generalized hierarchical control , 2015, Autonomous Robots.

[13]  Pierre-Brice Wieber,et al.  Hierarchical quadratic programming: Fast online humanoid-robot motion generation , 2014, Int. J. Robotics Res..

[14]  Manuel Berenguel,et al.  Fast MPC with staircase parametrization of the inputs: Continuous input blocking , 2017, 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA).

[15]  Yuval Tassa,et al.  Control-limited differential dynamic programming , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[16]  Alexander Dietrich,et al.  Prioritized multi-task compliance control of redundant manipulators , 2015, Autom..

[17]  Bruno Siciliano,et al.  Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators with Task Space Augmentation and Task Priority Strategy , 1991, Int. J. Robotics Res..

[18]  Andrea Maria Zanchettin,et al.  Motion planning for robotic manipulators using robust constrained control , 2017 .

[19]  Antonio Visioli,et al.  Planning and real-time modifications of a trajectory using spline techniques , 2003, Robotica.

[20]  Pyung Hun Chang,et al.  Redundancy resolution for dual-arm robots inspired by human asymmetric bimanual action: Formulation and experiments , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[21]  Andrea Maria Zanchettin,et al.  A redundancy resolution method for an anthropomorphic dual-arm manipulator based on a musculoskeletal criterion , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[22]  Jean-Jacques E. Slotine,et al.  A general framework for managing multiple tasks in highly redundant robotic systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.