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Priority-based Inverse Kinematics Solutions for a Dual-Arm Manipulator with Redundancy

机译：基于优先级的反向运动学解决方案，用于双臂机械手冗余

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This paper proposes a method to solve inverse kinematics for a 15-DOF redundant dual-arm manipulator.Generally,to solve inverse kinematics for a dual-arm manipulator with redundancy,the joint angle of base axis should be predetermined depending on purposes of the robot tasks such as assembly,welding,or object transportation.Then,the other joint angles can be determined numerically for each single-arm.In this paper,a new method is presented,which solves inverse kinematics considering entire 15 joints with redundancy using an extended Jacobian matrix including the base axis.For this approach,the Jacobian matrix is 12 by 15.So the matrix computation is expensive to solve the problem in the real-time robot controller.In order to reduce computational burden,we make use of another approach combining a geometrical method with a numerical method.Finally,the priority-based inverse kinematics method is proposed and examples of the obstacle avoidance,collision avoidance between both arms and minimizing workspace are shown.
机译：本文提出了一种解决15-DOF冗余双臂机械手的逆运动学的方法.Generally，为了解决双臂操纵器的逆运动学与冗余，应根据机器人的目的预先确定基轴的关节角度组装，焊接或物体运输等任务。该选项可以数值针对每个单一的单一结构确定。本文提出了一种新方法，该方法通过扩展的冗余考虑整个15个关节，解决了逆运动学。使用延长Jacobian矩阵包括基轴。对于这种方法，Jacobian矩阵为12×15.所以解决实时机器人控制器中的问题矩阵计算昂贵。为了降低计算负担，我们利用另一种方法用数值方法组合几何方法。最后，提出了优先级的逆运动学方法和避免障碍物的示例，武器和迷你之间的碰撞避免显示了Mize工作空间。

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