Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP

Yang Hou, Akira Yanou, Mamoru Minami, Takayuki Matsuno, Yosuke Kobayashi

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

Abstract

This paper proposes and analyses an approach named predictive control of redundant manipulators based on avoidance manipulability 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 first order prediction with second order prediction and show the results through simulation. Moreover, we validate the effectiveness of predictive control through Avoidance Manipulability Shape Index with Potential (AMSIP) distribution.

Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Control Applications
Pages526-532
Number of pages7
DOIs
Publication statusPublished - 2012
Event2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik, Croatia
Duration: Oct 3 2012Oct 5 2012

Other

Other2012 IEEE International Conference on Control Applications, CCA 2012
CountryCroatia
CityDubrovnik
Period10/3/1210/5/12

Fingerprint

Redundant Manipulator
Redundant manipulators
Predictive Control
Trajectory Tracking
Obstacle Avoidance
Manipulator
First-order
Configuration
Prediction
Trajectories
Collision avoidance
Manipulators
Electric current control
Simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Hou, Y., Yanou, A., Minami, M., Matsuno, T., & Kobayashi, Y. (2012). Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP. In Proceedings of the IEEE International Conference on Control Applications (pp. 526-532). [6402402] https://doi.org/10.1109/CCA.2012.6402402

Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP. / Hou, Yang; Yanou, Akira; Minami, Mamoru; Matsuno, Takayuki; Kobayashi, Yosuke.

Proceedings of the IEEE International Conference on Control Applications. 2012. p. 526-532 6402402.

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

Hou, Y, Yanou, A, Minami, M, Matsuno, T & Kobayashi, Y 2012, Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP. in Proceedings of the IEEE International Conference on Control Applications., 6402402, pp. 526-532, 2012 IEEE International Conference on Control Applications, CCA 2012, Dubrovnik, Croatia, 10/3/12. https://doi.org/10.1109/CCA.2012.6402402
Hou Y, Yanou A, Minami M, Matsuno T, Kobayashi Y. Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP. In Proceedings of the IEEE International Conference on Control Applications. 2012. p. 526-532. 6402402 https://doi.org/10.1109/CCA.2012.6402402
Hou, Yang ; Yanou, Akira ; Minami, Mamoru ; Matsuno, Takayuki ; Kobayashi, Yosuke. / Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP. Proceedings of the IEEE International Conference on Control Applications. 2012. pp. 526-532
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