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 proceedingConference 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 the SICE Annual Conference
Pages2377-2382
Number of pages6
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei, Taiwan, Province of China
Duration: Aug 18 2010Aug 21 2010

Other

OtherSICE Annual Conference 2010, SICE 2010
CountryTaiwan, Province of China
CityTaipei
Period8/18/108/21/10

Fingerprint

Availability
Trajectories
Collision avoidance
Manipulators
Redundant manipulators
Electric current control
Experiments

Keywords

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

ASJC Scopus subject areas

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

Cite this

Hou, Y., Nakamura, Y., Yamazaki, M., Zhang, T., & Minami, M. (2010). Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses. In Proceedings of the SICE Annual Conference (pp. 2377-2382). [5602304]

Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses. / Hou, Yang; Nakamura, Yusaku; Yamazaki, Maki; Zhang, Tongxiao; Minami, Mamoru.

Proceedings of the SICE Annual Conference. 2010. p. 2377-2382 5602304.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hou, Y, Nakamura, Y, Yamazaki, M, Zhang, T & Minami, M 2010, Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses. in Proceedings of the SICE Annual Conference., 5602304, pp. 2377-2382, SICE Annual Conference 2010, SICE 2010, Taipei, Taiwan, Province of China, 8/18/10.
Hou Y, Nakamura Y, Yamazaki M, Zhang T, Minami M. Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses. In Proceedings of the SICE Annual Conference. 2010. p. 2377-2382. 5602304
Hou, Yang ; Nakamura, Yusaku ; Yamazaki, Maki ; Zhang, Tongxiao ; Minami, Mamoru. / Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses. Proceedings of the SICE Annual Conference. 2010. pp. 2377-2382
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