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Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359540" target="_blank" >RIV/68407700:21230/22:00359540 - isvavai.cz</a>

  • Alternative codes found

    RIV/68407700:21730/22:00359540

  • Result on the web

    <a href="https://doi.org/10.1109/LRA.2022.3163444" target="_blank" >https://doi.org/10.1109/LRA.2022.3163444</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/LRA.2022.3163444" target="_blank" >10.1109/LRA.2022.3163444</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator

  • Original language description

    The Inverse Kinematics (IK) problem is concerned with finding robot control parameters to bring the robot into a desired position under the kinematics and joint limit constraints. We present a globally optimal solution to the IK problem for a general serial 7DOF manipulator with revolute joints and a polynomial objective function. We show that the kinematic constraints due to rotations can be all generated by the second-degree polynomials. This is an important result since it significantly simplifies the further step where we find the optimal solution by Lasserre relaxations of nonconvex polynomial systems. We demonstrate that the second relaxation is sufficient to solve a general 7DOF IK problem. Our approach is certifiably globally optimal. We demonstrate the method on the 7DOF KUKA LBR IIWA manipulator and show that we are, in practice, able to compute the optimal IK or certify infeasibility in 99.9% tested poses. We also demonstrate that by the same approach, we are able to solve the IK problem for any generic (random) manipulator with seven revolute joints.

  • Czech name

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    <a href="/en/project/EF15_003%2F0000468" target="_blank" >EF15_003/0000468: Intelligent Machine Perception</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Others

  • Publication year

    2022

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Name of the periodical

    IEEE Robotics and Automation Letters

  • ISSN

    2377-3766

  • e-ISSN

    2377-3766

  • Volume of the periodical

    7

  • Issue of the periodical within the volume

    3

  • Country of publishing house

    US - UNITED STATES

  • Number of pages

    8

  • Pages from-to

    6012-6019

  • UT code for WoS article

    000782796700001

  • EID of the result in the Scopus database

    2-s2.0-85127460907