Efficient Inverse Kinematics For Redundant Manipulators With Collision Avoidance In Dynamic Scenes
2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)(2018)
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.
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关键词
redundant manipulators,dynamic scene,iterative algorithm,dynamic environments,inverse kinematics solution,rank-based selection strategy,inverse kinematics method,collision avoidance scheme,high DOF manipulators
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