特異点における解析的情報を用いた逆運動学解法
Analytically Informed Inverse Kinematics Solution at Singularities
ロボットアームの特異点近傍で逆運動学を解く際、擬似逆行列では解けない場合がある問題に対し、特異運動の接線方向を解析的に記述して正則配置を導出し、それを初期値として数値解法を行う手法を提案。7自由度Kuka iiwaで有効性を検証。
著者: Andreas Mueller
分類: cs.RO, cs.NA, math.GR, math.NA, math.RA
原文アブストラクト
Near kinematic singularities of a serial manipulator, the inverse kinematics (IK) problem becomes ill-conditioned, which poses computational problems for the numerical solution. Computational methods to tackle this issue are based on various forms of a pseudoinverse (PI) solution to the velocity IK problem. The damped least squares (DLS) method provides a robust solution with controllable convergence rate. However, at singularities, it may not even be possible to solve the IK problem using any PI solution when certain end-effector motions are prescribed. To overcome this problem, an analytically informed inverse kinematics (AI-IK) method is proposed. The key step of the method is an explicit description of the tangent aspect of singular motions (the analytic part) to deduce a perturbation that yields a regular configuration. The latter serves as start configuration for the iterative solution (the numeric part). Numerical results are reported for a 7-DOF Kuka iiwa.
