1 research outputs found
Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking
Tracking Cartesian trajectories with end-effectors is a fundamental task in
robot control. For motion that is not known a priori, the solvers must find
fast solutions to the inverse kinematics (IK) problem for discretely sampled
target poses. On joint control level, however, the robot's actuators operate in
a continuous domain, requiring smooth transitions between individual states. In
this work we present a boost to the well-known Jacobian transpose method to
address this goal, using the mass matrix of a virtually conditioned twin of the
manipulator. Results on the UR10 show superior convergence and quality of our
dynamics-based solver against the plain Jacobian method. Our algorithm is
straightforward to implement as a controller, using present robotics libraries.Comment: 6 pages, 8 figure