论文标题
全球最佳解决方案，用于7DOF串行操作器的逆运动学
Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator
论文作者
论文摘要
逆运动学（IK）问题是ND机器人控制参数，将其带入运动学和碰撞约束下的所需位置。我们为具有旋转接头和二次多项式目标函数的一般序列7DOF操纵器的最佳IK问题提供了全局解决方案。我们表明，旋转引起的运动学约束都可以通过二级多项式产生。这很重要，因为它显着简化了进一步的步骤，即我们通过非凸线多项式系统的努力来确定最佳解决方案。我们证明了第二个放松是解决7DOF IK问题的成功。我们的方法在全球范围内表现最好。我们演示了7DOF KUKA LBR IIWA操纵器上的方法，并表明我们能够计算99％测试姿势的最佳IK或认证不可行。
The Inverse Kinematics (IK) problem is to nd robot control parameters to bring it into the desired position under the kinematics and collision constraints. We present a global solution to the optimal IK problem for a general serial 7DOF manipulator with revolute joints and a quadratic polynomial objective function. We show that the kinematic constraints due to rotations can all be generated by second-degree polynomials. This is important since it signicantly simplies further step where we nd the optimal solution by Lasserre relaxations of non-convex polynomial systems. We demonstrate that the second relaxation is sucient to solve the 7DOF IK problem. Our approach is certiably globally optimal. We demonstrate the method on the 7DOF KUKA LBR IIWA manipulator and show that we are able to compute the optimal IK or certify in-feasibility in 99 % tested poses.
