Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses

Yang Hou, Yusaku Nakamura, Maki Yamazaki, Tongxiao Zhang, Mamoru Minami

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

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2377-2382
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010

Publication series

NameProceedings of the SICE Annual Conference

Keywords

  • AMSI
  • Multi-Preview Control
  • PA10
  • Redundant manipulators
  • Single-Preview Control

ASJC Scopus subject areas

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

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