NDLI: Efficient prioritized inverse kinematic solutions for redundant manipulators

Content Provider	IEEE Xplore Digital Library
Author	Guilamo, L. Kuffner, J. Nishiwaki, K. Kagami, S.
Copyright Year	2005
Description	Author affiliation: Center of Digital Human Res., National Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan (Guilamo, L.; Kuffner, J.; Nishiwaki, K.; Kagami, S.)
Abstract	In this paper, we explore preprocessing techniques aimed at efficiently mapping the workspace to the configuration space for redundant manipulators. Exploiting the increasing availability of memory we precompute a database for online use that allows fast querying of joint configurations with high manipulability. Such a system is useful for performing reaching and manipulation tasks, online force control, and quickly computing goal configurations for path planning algorithms. We have implemented a prototype system on the digital human version humanoid robot platform 2 (DH-HRP2) which we use to efficiently compute arm inverse kinematic solutions. We demonstrate the benefits of such a system applied to converting workspace trajectories to configuration space trajectories. Although we have applied the technique to finding joint configurations with high manipulability, our approach can be generalized to a variety of different priority measures that may be used for evaluating inverse kinematic solutions for redundant manipulators.
Starting Page	3921
Ending Page	3926
File Size	251310
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545255
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Manipulators Humans Humanoid robots Space technology Path planning Jacobian matrices Aerospace industry Availability Databases Path Planning Inverse Kinematics Compliant Manipulation
Content Type	Text
Resource Type	Article

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