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| DOI：10.1007/s11768-010-0011-1 |
| Received:January 13, 2010Revised:January 13, 2010 |
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| Two optimization algorithms for solving robotics inverse kinematics with redundancy |
| Jianxin XU,Wei WANG,Yuanguang SUN |
| (National University of Singapore) |
| Abstract: |
| The kinematic redundancy in a robot leads to an infinite number of solutions for inverse kinematics, which
implies the possibility to select a “best” solution according to an optimization criterion. In this paper, two optimization
objective functions are proposed, aiming at either minimizing extra degrees of freedom (DOFs) or minimizing the total
potential energy of a multilink redundant robot. Physical constraints of either equality or inequality types are taken into
consideration in the objective functions. Since the closed-form solutions do not exist in general for highly nonlinear and
constrained optimization problems, we adopt and develop two numerical methods, which are verified to be effective and
precise in solving the two optimization problems associated with the redundant inverse kinematics. We first verify that
the well established trajectory following method can precisely solve the two optimization problems, but is computation
intensive. To reduce the computation time, a sequential approach that combines the sequential quadratic programming and
iterative Newton-Raphson algorithm is developed. A 4-DOF Fujitsu Hoap-1 humanoid robot arm is used as a prototype to
validate the effectiveness of the proposed optimization solutions. |
| Key words: Inverse kinematics Redundant robot Objective function Optimization Numerical approach |
