Prioritized Inverse Kinematics: Generalization

An, Sang-ik; Lee, Dongheui

doi:10.1109/lra.2019.2927945

Cited by 13 publications

(5 citation statements)

References 35 publications

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“…When a hierarchy exists between constraint tasks in inverse kinematics, a prioritization scheme must be followed. Each task is assigned a priority level, and high-priority tasks should not be affected by lower-priority tasks [ 22 ]. There are two main categories of hierarchical IK schemes: strict and non-strict control methods.…”

Section: Related Workmentioning

confidence: 99%

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Colan

Davila

Fozilov

et al. 2023

Sensors

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Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot’s motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point. Several IK strategies have been proposed for RMIS, including classical inverse Jacobian IK and optimization-based approaches. However, these methods have limitations and perform differently depending on the kinematic configuration. To address these challenges, we propose a novel concurrent IK framework that combines the strengths of both approaches and explicitly incorporates RCM constraints and joint limits into the optimization process. In this paper, we present the design and implementation of concurrent inverse kinematics solvers, as well as experimental validation in both simulation and real-world scenarios. Concurrent IK solvers outperform single-method solvers, achieving a 100% solve rate and reducing the IK solving time by up to 85% for an endoscope positioning task and 37% for a tool pose control task. In particular, the combination of an iterative inverse Jacobian method with a hierarchical quadratic programming method showed the highest average solve rate and lowest computation time in real-world experiments. Our results demonstrate that concurrent IK solving provides a novel and effective solution to the constrained IK problem in RMIS applications.

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Section: Related Workmentioning

confidence: 99%

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Colan

Davila

Fozilov

et al. 2023

Sensors

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show abstract

“…A common approach to addressing RCM constraints is the hierarchical projection method [8], where RCM constraints are defined as high-priority tasks. For example, Azimian et al [9] implemented RCM constraints by projecting an end-effector tracking task into the null space of the RCM task.…”

Section: A Contrained Motion Planning In Rmismentioning

confidence: 99%

Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming

Colan

Davila

Hasegawa

2023

2023 8th International Conference on Control and Robotics Engineering (ICCRE)

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Minimally Invasive Surgeries (MIS) are challenging for surgeons due to the limited field of view and constrained range of motion imposed by narrow access ports. These challenges can be addressed by robot-assisted endoscope systems which provide precise and stabilized positioning, as well as constrained and smooth motion control of the endoscope. In this work, we propose an online hierarchical optimization framework for visual servoing control of the endoscope in MIS. The framework prioritizes maintaining a remote-center-of-motion (RCM) constraint to prevent tissue damage, while a visual tracking task is defined as a secondary task to enable autonomous tracking of visual features of interest. We validated our approach using a 6-DOF Denso VS050 manipulator and achieved optimization solving times under 0.4 ms and maximum RCM deviation of approximately 0.4 mm. Our results demonstrate the effectiveness of the proposed approach in addressing the constrained motion planning challenges of MIS, enabling precise and autonomous endoscope positioning and visual tracking.

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“…Yet, geometric solution is not typical in practice due to the possibly high computational demand. Typically, the IK is solved on velocity [1,20,29] or acceleration level [13,20,24]. The numerical methods presented in this paper are realized in velocity and acceleration level.…”

Section: Inverse Kinematics Calculation Alternativesmentioning

confidence: 99%

Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

Patkó

Zelei²

2021

Meccanica

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For both non-redundant and redundant systems, the inverse kinematics (IK) calculation is a fundamental step in the control algorithm of fully actuated serial manipulators. The tool-center-point (TCP) position is given and the joint coordinates are determined by the IK. Depending on the task, robotic manipulators can be kinematically redundant. That is when the desired task possesses lower dimensions than the degrees-of-freedom of a redundant manipulator. The IK calculation can be implemented numerically in several alternative ways not only in case of the redundant but also in the non-redundant case. We study the stability properties and the feasibility of a tracking error feedback and a direct tracking error elimination approach of the numerical implementation of IK calculation both on velocity and acceleration levels. The feedback approach expresses the joint position increment stepwise based on the local velocity or acceleration of the desired TCP trajectory and linear feedback terms. In the direct error elimination concept, the increment of the joint position is directly given by the approximate error between the desired and the realized TCP position, by assuming constant TCP velocity or acceleration. We investigate the possibility of the implementation of the direct method on acceleration level. The investigated IK methods are unified in a framework that utilizes the idea of the auxiliary input. Our closed form results and numerical case study examples show the stability properties, benefits and disadvantages of the assessed IK implementations.

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Prioritized Inverse Kinematics: Generalization

Cited by 13 publications

References 35 publications

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots

Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming

Velocity and acceleration level inverse kinematic calculation alternatives for redundant manipulators

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