MANIPULABILITY AND JOINT-LIMIT DISTANCE OPTIMIZING INVERSE KINEMATICS

Abstract: methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for controlling a robot to achieve a motion trajectory that simultaneously optimizes joint manipulability and joint-limit distance. in one aspect, a system comprises receiving a first waypoint that represents the current pose of a robot comprising a plurality of joints, receiving a second waypoint that represents a target pose of the robot, obtaining a first joint state that defines an angular joint configuration that corresponds with the first waypoint of the robot, generating a motion between the first joint state and a second joint state that defines an angular joint configuration that corresponds with the second waypoint of the robot by performing an optimization process that simultaneously optimizes a unified joint-manipulability-and-joint-limit-distance metric of the robot, and generating control rules for the motion to be followed by the robot that achieves the target pose of the second waypoint.

Inventor(s): Giovanni Sutanto, Jean-Francois Dupuis, Ning Ye, Sean Alexander Rowan, Stefan Schaal

CPC Classification: B25J9/1664 ({characterised by motion, path, trajectory planning})

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