A Quadratic Programming Approach to Manipulation in Real-Time Using Modular Robots

Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation an unstructured environment, robot with many degrees of freedom usually necessary, which also complicates its motion problem. Real-time control brings about more difficulties robots have maintain the stability while moving towards target. Redundant systems are common modular that consist multiple modules and able transformed into different configurations respect needs. Different from fixed geometry or configurations, kinematics model robotic system can alter as reconfigures itself, developing generic approach for such difficult, especially when goals coupled. A new framework developed this paper. The problem formulated sequential linearly constrained quadratic program (QP) be solved efficiently. Some constraints incorporated QP, including novel way approximate environment obstacles. This solution used directly real-time applications off-line tool, it validated demonstrated on CKBot SMORES-EP platforms.