Globally Optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program
- Resource Type
- Periodical
- Authors
- Votroubek, T.; Kroupa, T.
- Source
- IEEE Robotics and Automation Letters IEEE Robot. Autom. Lett. Robotics and Automation Letters, IEEE. 9(6):5998-6003 Jun, 2024
- Subject
- Robotics and Control Systems
Computing and Processing
Components, Circuits, Devices and Systems
Polynomials
Manipulators
Optimization
Kinematics
End effectors
Convergence
Weight measurement
optimization and optimal control
redundant robots
- Language
- ISSN
- 2377-3766
2377-3774
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.