DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems

by   Salih Marangoz, et al.

Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative and service robots gaining traction, different robotic systems have to work in close proximity. This means that the current inverse kinematics approaches have to not only avoid collisions with themselves but also collisions with other robot arms. Therefore, we present a novel approach to compute inverse kinematics for serial manipulators that take into account different constraints while trying to reach a desired end-effector position and/or orientation that avoids collisions with themselves and other arms. Unlike other constraint based approaches, we neither perform expensive inverse Jacobian computations nor do we require arms with redundant degrees of freedom. Instead, we formulate different constraints as weighted cost functions to be optimized by a non-linear optimization solver. Our approach is superior to the state-of-the-art CollisionIK in terms of collision avoidance in the presence of multiple arms in confined spaces with no detected collisions at all in all the experimental scenarios. When the probability of collision is low, our approach shows better performance at trajectory tracking as well. Additionally, our approach is capable of simultaneous yet decentralized control of multiple arms for trajectory tracking in intersecting workspace without any collisions.


Bald Eagle Search Algorithm for High Precision Inverse Kinematics of Hyper-Redundant 9-DOF Robot

Robots in 3D spaces with more than six degrees of freedom are redundant....

Selective Inverse Kinematics: A Novel Approach to Finding Multiple Solutions Fast for High-DoF Robotic

Inverse Kinematics (IK) solves the problem of mapping from the Cartesian...

Collision-Free Inverse Kinematics Through QP Optimization (iKinQP)

Robotic manipulators are often designed with more actuated degrees-of-fr...

Robust Multi-Robot Trajectory Generation Using Alternating Direction Method of Multiplier

We propose a variant of alternating direction method of multiplier (ADMM...

Convex Iteration for Distance-Geometric Inverse Kinematics

Inverse kinematics (IK) is the problem of finding robot joint configurat...

Multi-Robot Localization and Target Tracking with Connectivity Maintenance and Collision Avoidance

We study the problem that requires a team of robots to perform joint loc...

Optimal Multi-Manipulator Arm Placement for Maximal Dexterity during Robotics Surgery

Robot arm placements are oftentimes a limitation in surgical preoperativ...

Please sign up or login with your details

Forgot password? Click here to reset