Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control

Tongxiao Zhang; Yusaku Nakamura; Hou Yang; Wei Song; Mamoru Minami; Akira Yanou; Mingcong Deng

Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control

Tongxiao Zhang, Yusaku Nakamura, Hou Yang, Wei Song, Mamoru Minami, Akira Yanou, Mingcong Deng

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper proposes a new approach, Multi-Preview Control, to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators, whose control strategy positions between on-line local method and offline global method (path planning). In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-preview uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with highest avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations and evaluate its effectiveness by comparing it with single-preview and path planning.

Original language	English
Pages	1103-1109
Number of pages	7
Publication status	Published - 2010
Event	Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan Duration: Dec 8 2010 → Dec 12 2010

Other

Other	Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
Country	Japan
City	Okayama
Period	12/8/10 → 12/12/10

ASJC Scopus subject areas

Artificial Intelligence
Information Systems

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Zhang, T., Nakamura, Y., Yang, H., Song, W., Minami, M., Yanou, A., & Deng, M. (2010). Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control. 1103-1109. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.

Conceptual configuration control of redundant manipulators inheriting local/global merits : Multi-preview control. / Zhang, Tongxiao; Nakamura, Yusaku; Yang, Hou; Song, Wei; Minami, Mamoru; Yanou, Akira; Deng, Mingcong.

2010. 1103-1109 Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.

Research output: Contribution to conference › Paper › peer-review

Zhang, T, Nakamura, Y, Yang, H, Song, W, Minami, M, Yanou, A & Deng, M 2010, 'Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control', Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan, 12/8/10 - 12/12/10 pp. 1103-1109.

Zhang T, Nakamura Y, Yang H, Song W, Minami M, Yanou A et al. Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control. 2010. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.

Zhang, Tongxiao ; Nakamura, Yusaku ; Yang, Hou ; Song, Wei ; Minami, Mamoru ; Yanou, Akira ; Deng, Mingcong. / Conceptual configuration control of redundant manipulators inheriting local/global merits : Multi-preview control. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.7 p.

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abstract = "This paper proposes a new approach, Multi-Preview Control, to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators, whose control strategy positions between on-line local method and offline global method (path planning). In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-preview uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with highest avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations and evaluate its effectiveness by comparing it with single-preview and path planning.",

author = "Tongxiao Zhang and Yusaku Nakamura and Hou Yang and Wei Song and Mamoru Minami and Akira Yanou and Mingcong Deng",

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AU - Minami, Mamoru

AU - Yanou, Akira

AU - Deng, Mingcong

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AB - This paper proposes a new approach, Multi-Preview Control, to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators, whose control strategy positions between on-line local method and offline global method (path planning). In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-preview uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with highest avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations and evaluate its effectiveness by comparing it with single-preview and path planning.

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Conceptual configuration control of redundant manipulators inheriting local/global merits: Multi-preview control

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ASJC Scopus subject areas

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