NDLI: Gradient Optimization of Inverse Dynamics for Robotic Manipulator Motion Planning Using Combined Optimal Control

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Gong, Shangdong Alqasemi, Redwan Dubey, Rajiv
Copyright Year	2017
Abstract	Motion planning of redundant manipulators is an active and widely studied area of research. The inverse kinematics problem can be solved using various optimization methods within the null space to avoid joint limits, obstacle constraints, as well as minimize the velocity or maximize the manipulability measure. However, the relation between the torques of the joints and their respective positions can complicate inverse dynamics of redundant systems. It also makes it challenging to optimize cost functions, such as total torque or kinematic energy. In addition, the functional gradient optimization techniques do not achieve an optimal solution for the goal configuration. We present a study on motion planning using optimal control as a pre-process to find optimal pose at the goal position based on the external forces and gravity compensation, and generate a trajectory with optimized torques using the gradient information of the torque function. As a result, we reach an optimal trajectory that can minimize the torque and takes dynamics into consideration. We demonstrate the motion planning for a planar 3-DOF redundant robotic arm and show the results of the optimized trajectory motion. In the simulation, the torque generated by an external force on the end-effector as well as by the motion of every link is made into an integral over the squared torque norm. This technique is expected to take the torque of every joint into consideration and generate better motion that maintains the torques or kinematic energy of the arm in the safe zone. In future work, the trajectories of the redundant manipulators will be optimized to generate more natural motion as in humanoid arm motion. Similar to the human motion strategy, the robot arm is expected to be able to lift weights held by hands, the configuration of the arm is changed along from the initial configuration to a goal configuration. Furthermore, along with weighted least norm (WLN) solutions, the optimization framework will be more adaptive to the dynamic environment. In this paper, we present the development of our methodology, a simulated test and discussion of the results.
File Format	PDF
ISBN	9780791858387
DOI	10.1115/IMECE2017-72064
Volume Number	Volume 4B: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2017 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2017-11-03
Publisher Place	Tampa, Florida, USA
Access Restriction	Subscribed
Subject Keyword	Torque Redundant manipulators Gravity (force) Manipulators Path planning Optimization Robotics Simulation Dynamics (mechanics) Optimal control Kinematics Trajectories (physics) End effectors Robots
Content Type	Text
Resource Type	Article

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