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Autonomous Mobile Manipulation

Manipulation: Inverse Kinematics, Trajectory Generation

C. Papachristos

Robotic Workers (RoboWork) Lab

University of Nevada, Reno

CS-791

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Inverse Kinematics

 

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Inverse Kinematics

 

 

 

 

 

 

FK:

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Inverse Kinematics

 

 

 

 

 

residual error

 

 

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Inverse Kinematics

 

 

 

 

 

 

 

 

 

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Inverse Kinematics

 

 

 

 

 

 

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Inverse Kinematics

 

 

 

 

 

 

 

(applied for unit time)

 

 

 

 

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(also applied for unit time)

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Inverse Kinematics

 

 

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Trajectory Generation

 

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Trajectory Generation

 

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Trajectory Generation

 

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Trajectory Generation

 

 

 

 

 

 

 

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Trajectory Generation

 

 

 

 

 

 

 

 

 

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Trajectory Generation

 

 

 

 

 

 

 

 

 

 

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Trajectory Generation

Trajectory Time Scaling

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Trapezoidal:

  • Incorporation of joint velocity and acceleration limits
  • Not smooth

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S-Curve:

  • Resolves discontinuities in acceleration of Trapezoidal scaling
  • 7 Phases:
    • Constant Jerk (time derivative of acceleration)
    • Constant Acceleration
    • Constant Negative Jerk (time derivative of acceleration)
    • Constant Velocity
    • Constant Negative Jerk (time derivative of acceleration)
    • Constant Negative Acceleration
    • Constant Jerk (time derivative of acceleration)

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Time for Questions !

CS-791

CS791 C. Papachristos