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)

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 languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages261-266
Number of pages6
Publication statusPublished - 2011
Event50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan
Duration: Sep 13 2011Sep 18 2011

Other

Other50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011
CountryJapan
CityTokyo
Period9/13/119/18/11

Fingerprint

Redundant manipulators
Cameras
Target tracking
Manipulators
Automation
Trajectories
Robots

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

Kobayashi, Y., Minami, M., & Yanou, A. (2011). Global reconfiguration capability evaluation and on-line preview control. In Proceedings of the SICE Annual Conference (pp. 261-266). [6060615]

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 proceedingConference contribution

Kobayashi, Y, Minami, M & Yanou, A 2011, Global reconfiguration capability evaluation and on-line preview control. in Proceedings of the SICE Annual Conference., 6060615, pp. 261-266, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.
Kobayashi Y, Minami M, Yanou A. Global reconfiguration capability evaluation and on-line preview control. In Proceedings of the SICE Annual Conference. 2011. p. 261-266. 6060615
Kobayashi, Yosuke ; Minami, Mamoru ; Yanou, Akira. / Global reconfiguration capability evaluation and on-line preview control. Proceedings of the SICE Annual Conference. 2011. pp. 261-266
@inproceedings{bf75c111c8a44908b32beb69d54ab673,
title = "Global reconfiguration capability evaluation and on-line preview control",
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).",
keywords = "Multi-Preview Control, Reconfiguration, Redundant manipulators, Single-Preview Control",
author = "Yosuke Kobayashi and Mamoru Minami and Akira Yanou",
year = "2011",
language = "English",
isbn = "9784907764395",
pages = "261--266",
booktitle = "Proceedings of the SICE Annual Conference",

}

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 -