Study Findings on Robotics Reported by Researchers at Harbin Institute of Techno logy (An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment)
Study Findings on Robotics Reported by Researchers at Harbin Institute of Techno logy (An obstacle-avoidance inverse kinematics method for robotic manipulator in overhead multi-line environment)
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New study results on robotics have bee n published. According to news originating from Heilongjiang, People’s Republic of China, by NewsRx correspondents, research stated, “The inverse kinematics pro blem plays a crucial role in robotic manipulator planning, autonomous control, a nd object grasping. This problem can be solved in simple environments based on e xisting studies.” Funders for this research include National Natural Science Foundation of China; Hubei Electric Power Research Institute; Yunnan Power Grid Co. Ltd.. Our news correspondents obtained a quote from the research from Harbin Institute of Technology: “However, it is still challenging to quickly find a feasible inv erse kinematic solution when obstacle avoidance is required. In this paper, we p resent a nonconvex composite programming method to solve the inverse kinematics problem with overhead obstacle-avoidance requirements. Our method enables effici ent obstacle avoidance by directly calculating the minimum distance between the manipulator and the overhead environment. We construct end-effector error functi ons based on the Product of Exponentials model and explicitly provide their grad ient formula. We derive the minimum distance based on the geometry parametric eq uation and directly utilize it to construct the obstacle avoidance function. We propose an enhanced version of adaptive moment estimation based on short-time gr adient information to improve optimization performance.”
Key words
Harbin Institute of Technology/Heilongj iang/People’s Republic of China/Asia/Emerging Technologies/Inverse Kinematic s/Machine Learning/Robotics/Robots
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