Uploaded March 2015 | Updated September 2026, 1 day ago

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Predictive Online Inverse Kinematics Algorithm for Redundant Manipulators. The video shows 4 scenes related to the proposed approach:

#1: Simulation of a linear movement of a planar 4-DOF pendulum. While the local inverse kinematics approach (black robot) avoids the obstacle only locally, the MPC approach (blue robot) chooses within the moving horizon a better configuration in advance.

#2: Simulation of the 9-DOF CROPS harvesting robot approaching a fruit. The transparent robot (local inverse kinematics) has clearly higher velocity peaks (watch e.g. the prismatic joint), while the motion of the blue robot (MPC approach) shows smoother motions.

#3: Simulation of a self-collision scenario for the 9-DOF harvesting robot.

#4: Real-Time application of the proposed approach for the 9-DOF manipulator in a self-collision scenario.

(2014)