逆運動学arXiv:2312.15569
大域的最適逆運動学の二次計画問題としての定式化
Globally Optimal Inverse Kinematics as a Quadratic Program
逆運動学を不定二次制約付き二次計画問題として定式化し、冗長マニピュレータの大域的最適解を計算可能にした。
著者: Tomáš Votroubek, Tomáš Kroupa
分類: cs.RO
原文アブストラクト
We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant manipulators. We demonstrate the performance on randomly generated designs and on real-world robots with up to ten revolute joints. The same technique can be used for manipulator design by introducing kinematic parameters as variables.