IEEE Transactions on Robotics | 2019
Predictive Inverse Kinematics for Redundant Manipulators With Task Scaling and Kinematic Constraints
Abstract
The paper presents a fast online predictive method to solve the task-priority differential inverse kinematics of redundant manipulators under kinematic constraints. It implements a task-scaling technique to preserve the desired geometrical task, when the trajectory is infeasible for the robot capabilities. Simulation results demonstrate the effectiveness of the methodology.