Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator

Solver for inverse kinematics tasks for general serial manipulators with seven revolute joints. It combines symbolical and numerical approaches to find a global solution to a polynomial objective function. A toolbox for Matlab.

Usage

Solver for each of the manipulators is stored in separate folders. DH parameters of the manipulator are saved in the MATLAB file manipulator.mat. For direct solving by the POP solver, please, refer to the script file gloptipoly.m. For the approach with the symbolic reduction step, please, refer to the script file GB.m. These files are self-explanatory.

For a detailed description of this software, please refer to [1].

Several MATLAB toolboxes are required to be installed: GloptiPoly [2], YALMIP [3], and MOSEK [4]. For symbolic preprocessing, Maple installation is needed.

Citing

If you are using the software for (scientific) publications, please cite the following source:

@misc{softwareTrutmanGlobal,
  title = {{Global 7DOF IKT -- Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator}},
  author = {Trutman, Pavel},
  howpublished = {\url{https://github.com/PavelTrutman/Global-7DOF-IKT}},
  year = {2021}
}

Please also cite the relevant publication:

@article{trutman2020globally,
  title = {{Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator}},
  author = {Trutman, Pavel and Mohab, Safey El Din and Henrion, Didier and Pajdla, Tomas},
  journal = {arXiv preprint arXiv:2007.12550},
  year = {2020}
}

References

[1] Pavel Trutman, Mohab Safey El Din, Didier Henrion, and Tomas Pajdla. Globally Optimal Solution to Inverse Kinematics of 7DOF Serial Manipulator. arXiv preprint arXiv:2007.12550, 2020.

[2] Didier Henrion, and Jean-Bernard Lasserre. GloptiPoly: Global Optimization over Polynomials with Matlab and SeDuMi. ACM Transactions on Mathematical Software (TOMS) 29.2: 165-194, 2003.

[3] Johan Löfberg. YALMIP: A Toolbox for Modeling and Optimization in MATLAB. In Proceedings of the CACSD Conference, Taipei, Taiwan, 2004.

[4] MOSEK ApS. The MOSEK Optimization Toolbox for MATLAB Manual. Version 8.0, 2016. http://docs.mosek.com/8.0/toolbox/index.html