Analysis for configuration prediction of redundant manipulators based on AMSIP distribution

Yang Hou; Akira Yanou; Mamoru Minami; Yosuke Kobayashi; Satoshi Okazaki

doi:10.1109/AIM.2012.6265948

Analysis for configuration prediction of redundant manipulators based on AMSIP distribution

Yang Hou, Akira Yanou, Mamoru Minami, Yosuke Kobayashi, Satoshi Okazaki

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper proposes and analyses an approach named predictive control of redundant manipulators based on Avoidance Manipulability Shape Index with Potential (AMSIP), which is an evaluation index considering avoidance manipulability and collision possibility, in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with Predictive Control using redundant manipulator, and show the results through simulations. Moreover, we validate the effectiveness of Predictive Control through AMSIP distribution.

Original language	English
Title of host publication	AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages	292-299
Number of pages	8
DOIs	https://doi.org/10.1109/AIM.2012.6265948
Publication status	Published - Oct 5 2012
Event	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China Duration: Jul 11 2012 → Jul 14 2012

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Country	Taiwan, Province of China
City	Kaohsiung
Period	7/11/12 → 7/14/12

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

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Hou, Y., Yanou, A., Minami, M., Kobayashi, Y., & Okazaki, S. (2012). Analysis for configuration prediction of redundant manipulators based on AMSIP distribution. In AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest (pp. 292-299). [6265948] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6265948

Analysis for configuration prediction of redundant manipulators based on AMSIP distribution. / Hou, Yang; Yanou, Akira; Minami, Mamoru; Kobayashi, Yosuke; Okazaki, Satoshi.

AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 292-299 6265948 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hou, Y, Yanou, A, Minami, M, Kobayashi, Y & Okazaki, S 2012, Analysis for configuration prediction of redundant manipulators based on AMSIP distribution. in AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest., 6265948, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 292-299, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, Taiwan, Province of China, 7/11/12. https://doi.org/10.1109/AIM.2012.6265948

Hou Y, Yanou A, Minami M, Kobayashi Y, Okazaki S. Analysis for configuration prediction of redundant manipulators based on AMSIP distribution. In AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. p. 292-299. 6265948. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6265948

Hou, Yang ; Yanou, Akira ; Minami, Mamoru ; Kobayashi, Yosuke ; Okazaki, Satoshi. / Analysis for configuration prediction of redundant manipulators based on AMSIP distribution. AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest. 2012. pp. 292-299 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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abstract = "This paper proposes and analyses an approach named predictive control of redundant manipulators based on Avoidance Manipulability Shape Index with Potential (AMSIP), which is an evaluation index considering avoidance manipulability and collision possibility, in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with Predictive Control using redundant manipulator, and show the results through simulations. Moreover, we validate the effectiveness of Predictive Control through AMSIP distribution.",

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