为Baxter机器人开发了更可靠的运动学与动力学软件库
Kinematics & Dynamics Library for Baxter Arm
- 基于Python实现位置与速度运动学，支持雅可比矩阵解冗余
- 相比PyKDL，逆运动学求解成功率显著提升
- 适合需要精确控制机械臂的研究者使用
Baxter机器人是广泛使用的标准研究平台，由Rethink Robotics提供SDK支持。尽管应用普遍，但官方软件支持较差，尤其是原生逆运动学（IK）服务成功率低且不稳定。这种不可靠性使Baxter在实验中难以使用，研究社区亟需更可靠的软件支持。本文提出一个基于Python的Baxter机器人运动学与动力学软件库，包含位姿与速度运动学实现，支持雅可比操作以解决冗余问题。我们展示了该库的实现方法与性能表现，并与PyKDL进行了对比。结果表明，本工具在逆运动学求解效率与稳定性方面均有明显改进。
原文摘要 · Abstract (English)
The Baxter robot is a standard research platform used widely in research tasks, supported with an SDK provided by the developers, Rethink Robotics. Despite the ubiquitous use of the robot, the official software support is sub-standard. Especially, the native IK service has a low success rate and is often inconsistent. This unreliable behavior makes Baxter difficult to use for experiments and the research community is in need of a more reliable software support to control the robot. We present our work towards creating a Python based software library supporting the kinematics and dynamics of the Baxter robot. Our toolbox contains implementation of pose and velocity kinematics with support for Jacobian operations for redundancy resolution. We present the implementation and performance of our library, along with a comparison with PyKDL. Keywords- Baxter Research Robot, Manipulator Kinematics, Iterative IK, Dynamical Model, Redundant Manipulator
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