一种纯反应式可操作性最大化运动控制器
A Purely-Reactive Manipulability-Maximising Motion Controller
摘要：
我们提出了一种新的方法来控制机器人末端执行器的瞬时速度，能够同时最大限度地提高可操作性，避免关节限制。它在非冗余和冗余机器人上运行，这是通过以受控路径偏差的形式添加人工冗余来实现的。我们将问题表述为二次规划，并提供了一个开源的Python实现，可以在几毫秒内提供解决方案。它接受使用URDF或Denavit-Hartenberg参数化表示的机器人模型。我们比较我们的方法，以前的工作在模拟和物理机器人。
英文摘要：
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is achieved by adding artificial redundancy in the form of controlled path deviation. We formulate the problem as a quadratic programme and provide an open-source Python implementation that provides solutions in just a few milliseconds. It accepts a robot model expressed using URDF or Denavit-Hartenberg parameterisation. We compare our method to previous work in simulation and on a physical robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
