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Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints

机译:具有不等式约束的分层逆运动学的快速分辨率

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Classically, the inverse kinematics is performed by computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets of constraints (typically around 5ms for 50 degrees of freedom - DOF). In this paper, we propose a dedicated adaptation of quadratic programming that enables fast computations of the hierarchical inverse kinematics (around 0.1ms for 50 DOF). We then extend this algorithm to deal with unilateral constraints, obtaining sufficiently high performances for reactive control.
机译:经典上,通过计算矩阵的奇异值分解来执行逆运动学来反转。这使得能够非常简单地写入算法。然而,计算成本很高,特别是当应用于复杂的机器人和复杂的约束组时(通常约为5ms的自由度 - DOF)。在本文中,我们提出了一种二次编程的专用调整,其能够快速计算分层逆运动学(约为50 DOF的0.1ms)。然后,我们将该算法扩展到处理单侧约束,从而获得足够高的反应控制性能。

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