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 proceedingConference 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 languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages292-299
Number of pages8
DOIs
Publication statusPublished - Oct 5 2012
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: Jul 11 2012Jul 14 2012

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period7/11/127/14/12

ASJC Scopus subject areas

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

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