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

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 languageEnglish
Pages1103-1109
Number of pages7
Publication statusPublished - 2010
EventJoint 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

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/10 → 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.