학술논문
Globally Optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program
Document Type
Periodical
Author
Source
IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(6):5998-6003 Jun, 2024
Subject
Language
ISSN
2377-3766
2377-3774
2377-3774
Abstract
We show how to compute globally optimal solutions to inverse kinematics by formulating the problem as a non-convex quadratically constrained quadratic program. Our approach makes solving inverse kinematics instances of generic redundant manipulators feasible. We demonstrate the performance on randomly generated designs and real-world robots with up to ten revolute joints. The same technique can be used for manipulator design by introducing kinematic parameters as variables.