Global reconfiguration capability evaluation and on-line preview control

Yosuke Kobayashi, Mamoru Minami, Akira Yanou

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

2 Citations (Scopus)


This paper shows global reconfiguration capability evaluation for redundant manipulator while its hand tracking target trajectory and the shape avoiding obstacle. In this research, aiming at constructing an automation system that can operate a given task to the arbitrarily shaped target object without preparatory operation, we propose a production system composed of redundant manipulator and movable camera that observe the target's shape on-line. In such a system, the configuration of the robot should always be prepared to keep the highest avoidance manipulability to evade the object quickly that may appears suddenly in the moving camera view. We evaluated configurations of manipulator by using the index representing Avoidance Manipulability Ellipsoid Shape Index with Potential (AMSIP).

Original languageEnglish
Title of host publicationSICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)9784907764395
Publication statusPublished - Jan 1 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Publication series

NameProceedings of the SICE Annual Conference


Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011


  • Multi-Preview Control
  • Reconfiguration
  • Redundant manipulators
  • Single-Preview Control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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