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arXiv · 1901.06713

CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics

Mathias Hauan Arbo·Esten Ingar Grøtli·Jan Tommy Gravdahl
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Abstract

A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved with a quadratic, nonlinear, or model predictive optimization-based approach, or a set-based task-priority inverse kinematics approach. The optimization-based approaches are described in relation to the set-based task approach, and a novel multidimensional "in tangent cone" function is presented for set-based tasks. A ROS component is provided, and the controllers are tested with matching a pose using either transformation matrices or dual quaternions, trajectory tracking while remaining in a bounded workspace, maximizing manipulability during a tracking task, tracking an input marker's position, and force compliance.

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Mathias Hauan Arbo, Esten Ingar Grøtli, Jan Tommy Gravdahl. 2019-01-20. CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics. https://arxiv.org/abs/1901.06713

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