论文标题
纯粹反应性的可操作性最大化运动控制器
A Purely-Reactive Manipulability-Maximising Motion Controller
论文作者
论文摘要
我们提出了一种新的方法，可以控制机器人最终效应器的瞬时速度，该速度能够同时最大程度地提高可操作性并避免关节限制。它以非冗余和冗余机器人的形式运行，这是通过以受控路径偏差的形式添加人造冗余来实现的。我们将问题提出为二次程序，并提供开源的Python实现，该实施仅提供几毫秒的解决方案。它接受使用乌尔德或denavit-hartenberg参数化表示的机器人模型。我们将我们的方法与仿真和物理机器人的先前工作进行比较。
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is achieved by adding artificial redundancy in the form of controlled path deviation. We formulate the problem as a quadratic programme and provide an open-source Python implementation that provides solutions in just a few milliseconds. It accepts a robot model expressed using URDF or Denavit-Hartenberg parameterisation. We compare our method to previous work in simulation and on a physical robot.
