Abstract
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 language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 261-266 |
| Number of pages | 6 |
| Publication status | Published - 2011 |
| Event | 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan Duration: Sep 13 2011 → Sep 18 2011 |
Other
| Other | 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 |
|---|---|
| Country | Japan |
| City | Tokyo |
| Period | 9/13/11 → 9/18/11 |
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Keywords
- Multi-Preview Control
- Reconfiguration
- Redundant manipulators
- Single-Preview Control
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Global reconfiguration capability evaluation and on-line preview control. / Kobayashi, Yosuke; Minami, Mamoru; Yanou, Akira.
Proceedings of the SICE Annual Conference. 2011. p. 261-266 6060615.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Global reconfiguration capability evaluation and on-line preview control
AU - Kobayashi, Yosuke
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2011
Y1 - 2011
N2 - 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).
AB - 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).
KW - Multi-Preview Control
KW - Reconfiguration
KW - Redundant manipulators
KW - Single-Preview Control
UR - http://www.scopus.com/inward/record.url?scp=81255178790&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=81255178790&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:81255178790
SN - 9784907764395
SP - 261
EP - 266
BT - Proceedings of the SICE Annual Conference
ER -