An Inverse Kinematics Algorithm With Smooth Task Switching for Redundant Robots

Journal article (2024)

Authors

Hannes Gamper Johannes Kepler University Linz, CERN
Andreas Mueller Johannes Kepler University Linz
A. Diaz Rosales Human-Robot Interaction - Mechanical, Maritime and Materials Engineering , CERN
Research Group
Human-Robot Interaction (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2024

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Human-Robot Interaction

Abstract

This letter presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task-priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultaneously. The novelty of the proposed algorithm lies in the ability to smoothly switch between different tasks and thus to allow for a seamless and safe transition during robot operation. This has shown to improve the efficiency and user experience, especially during tele-operated interventions in complex environments.

Files

An_Inverse_Kinematics_Algorith... (pdf)
(pdf | 3.23 Mb)
- Embargo expired in 20-09-2024
Unknown license