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 publication2012 IEEE International Conference on Control Applications, CCA 2012
Pages526-532
Number of pages7
DOIs
Publication statusPublished - Dec 1 2012
Event2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik, Croatia
Duration: Oct 3 2012Oct 5 2012

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

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

ASJC Scopus subject areas

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

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    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 2012 IEEE International Conference on Control Applications, CCA 2012 (pp. 526-532). [6402402] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2012.6402402