TY - GEN
T1 - Analysis for configuration prediction of redundant manipulators based on AMSIP distribution
AU - Hou, Yang
AU - Yanou, Akira
AU - Minami, Mamoru
AU - Kobayashi, Yosuke
AU - Okazaki, Satoshi
PY - 2012/10/5
Y1 - 2012/10/5
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84866899279&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866899279&partnerID=8YFLogxK
U2 - 10.1109/AIM.2012.6265948
DO - 10.1109/AIM.2012.6265948
M3 - Conference contribution
AN - SCOPUS:84866899279
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 292
EP - 299
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -