论文标题
使用Fabrik和优化的合并逆运动学算法
A Combined Inverse Kinematics Algorithm Using FABRIK with Optimization
论文作者
论文摘要
向前和向后触及逆运动学（FABRIK）是一种启发式逆运动求解器，逐渐应用于具有快速收敛并生成更现实的配置的好处的操纵器。但是，在高误差限制下，Fabrik表现出不稳定的收敛行为，这对于操纵器的实时运动计划不令人满意。在本文中，提出了一种新型的逆运动学算法，它结合了Fabrik和顺序二次编程（SQP）算法，其中提出了FabRik推导的关节角度作为SQP算法的初始种子，以避免将其固定在本地最小值中。通过实验评估合并的算法，在高误差限制下，我们的算法比Fabrik获得更高的成功率和更快的解决方案时间。此外，合并的算法可以在路径跟踪中为UR5和KUKA LBR IIWA 14 R820操纵器生成连续轨迹，而无姿势误差和最终效应器的允许位置误差。
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However, under the high error constraint, FABRIK exhibits unstable convergence behavior, which is unsatisfactory for the real-time motion planning of manipulators. In this paper, a novel inverse kinematics algorithm that combines FABRIK and the sequential quadratic programming (SQP) algorithm is presented, in which the joint angles deduced by FABRIK will be taken as the initial seed of the SQP algorithm to avoid getting stuck in local minima. The combined algorithm is evaluated with experiments, in which our algorithm can achieve higher success rates and faster solution times than FABRIK under the high error constraint. Furthermore, the combined algorithm can generate continuous trajectories for the UR5 and KUKA LBR IIWA 14 R820 manipulators in path tracking with no pose error and permitted position error of the end-effector.
