Dynamic planning of redundant robots within a set-based task-priority inverse kinematics framework

摘要

This work presents the dynamic planning of redundant robots by merging a global and local planner. The global planner is implemented as a sampling-based algorithm which works in the reduced-dimensionality of the robot workspace applying the Cartesian constraints only. The output trajectory is then checked within a framework of set-based task priority inverse kinematics verifying the fulfillment of the other task constraints. The inverse kinematics framework is used also in real-time as local motion control to ensure a reactive behaviour to address, e.g., mismatch between the apriori information and on-line perception acquisition. During the movement, the motion planner runs in background to adapt to changes in the environment or, in general, to continuously optimize the path. The proposed method is experimentally validated with a Kinova Jaco2 7 degrees of freedom manipulator.