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 language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE International Conference on Control Applications |
| Pages | 526-532 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2012 |
| Event | 2012 IEEE International Conference on Control Applications, CCA 2012 - Dubrovnik, Croatia Duration: Oct 3 2012 → Oct 5 2012 |
Other
| Other | 2012 IEEE International Conference on Control Applications, CCA 2012 |
|---|---|
| Country | Croatia |
| City | Dubrovnik |
| Period | 10/3/12 → 10/5/12 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Mathematics(all)
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Comparison between first and second order prediction for on-line configuration control of redundant manipulator based on AMSIP
AU - Hou, Yang
AU - Yanou, Akira
AU - Minami, Mamoru
AU - Matsuno, Takayuki
AU - Kobayashi, Yosuke
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84873196992&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84873196992&partnerID=8YFLogxK
U2 - 10.1109/CCA.2012.6402402
DO - 10.1109/CCA.2012.6402402
M3 - Conference contribution
AN - SCOPUS:84873196992
SN - 9781467345033
SP - 526
EP - 532
BT - Proceedings of the IEEE International Conference on Control Applications
ER -