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Title: Two optimization algorithms for solving robotics inverse kinematics with redundancy
Authors: Xu, J. 
Wang, W.
Sun, Y.
Keywords: Inverse kinematics
Numerical approach
Objective function
Redundant robot
Issue Date: May-2010
Citation: Xu, J.,Wang, W.,Sun, Y. (2010-05). Two optimization algorithms for solving robotics inverse kinematics with redundancy. Journal of Control Theory and Applications 8 (2) : 166-175. ScholarBank@NUS Repository.
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. © 2010 South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
Source Title: Journal of Control Theory and Applications
ISSN: 16726340
DOI: 10.1007/s11768-010-0011-1
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