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Title:	Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements
Author:	Colomé Figueras, Adrià; Torras, Carme
Other authors:	Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
Abstract:	Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used Closed-Loop IK (CLIK) methods for redundant robots, analysing their main points of concern: convergence, numerical error, singularity handling, joint limit avoidance, and the capability of reaching secondary goals. As a result of the experimental comparison, we propose two enhancements. The first is a new filter for the singular values of the Jacobian matrix that guarantees that its conditioning remains stable, while none of the filters found in literature is successful at doing so. The second is to combine a continuous task priority strategy with selective damping to generate smoother trajectories. Experimentation on the WAM robot arm shows that these two enhancements yield an IK algorithm that improves on the reviewed state-of-the-art ones, in terms of the good compromise it achieves between time step length, Jacobian conditioning, multiple task performance, and computational time, thus constituting a very solid option in practice. This proposal is general and applicable to other redundant robots.
Abstract:	Peer Reviewed
Subject(s):	-Àrees temàtiques de la UPC::Informàtica::Robòtica -manipulators -robot kinematics -inverse kinematics -redundant manipulators -Classificació INSPEC::Automation::Robots::Robot kinematics
Rights:	http://creativecommons.org/licenses/by-nc-nd/3.0/es/
Document type:	Article - Submitted version Article
Published by:	Institute of Electrical and Electronics Engineers (IEEE)
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