TY - GEN
T1 - Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses
AU - Hou, Yang
AU - Nakamura, Yusaku
AU - Yamazaki, Maki
AU - Zhang, Tongxiao
AU - Minami, Mamoru
PY - 2010/1/1
Y1 - 2010/1/1
N2 - This paper proposes a new approach named Multi-Preview Control that is developed from Single-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators effectively without predefined working object's shape. In the trajectory tracking process, the manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. In addition, we analyze the relationship between distribution of AMSI(Avoidance Manipulability Shape Index) and shape of manipulator. We verify the effectiveness and validity of Multi-Preview Control through simulations and experiments.
AB - This paper proposes a new approach named Multi-Preview Control that is developed from Single-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators effectively without predefined working object's shape. In the trajectory tracking process, the manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. In addition, we analyze the relationship between distribution of AMSI(Avoidance Manipulability Shape Index) and shape of manipulator. We verify the effectiveness and validity of Multi-Preview Control through simulations and experiments.
KW - AMSI
KW - Multi-Preview Control
KW - PA10
KW - Redundant manipulators
KW - Single-Preview Control
UR - http://www.scopus.com/inward/record.url?scp=78649261136&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649261136&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78649261136
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 2377
EP - 2382
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -