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