Global reconfiguration capability evaluation and on-line preview control

Yosuke Kobayashi; Mamoru Minami; Akira Yanou

Global reconfiguration capability evaluation and on-line preview control

Yosuke Kobayashi, Mamoru Minami, Akira Yanou

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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	SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	261-266
Number of pages	6
ISBN (Print)	9784907764395
Publication status	Published - Jan 1 2011
Event	50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011 - Tokyo, Japan Duration: Sep 13 2011 → Sep 18 2011

Publication series

Name	Proceedings of the SICE Annual Conference

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

Keywords

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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Cite this

Global reconfiguration capability evaluation and on-line preview control. / Kobayashi, Yosuke; Minami, Mamoru; Yanou, Akira.

SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts. Society of Instrument and Control Engineers (SICE), 2011. p. 261-266 6060615 (Proceedings of the SICE Annual Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kobayashi, Y, Minami, M & Yanou, A 2011, Global reconfiguration capability evaluation and on-line preview control. in SICE 2011 - SICE Annual Conference 2011, Final Program and Abstracts., 6060615, Proceedings of the SICE Annual Conference, Society of Instrument and Control Engineers (SICE), pp. 261-266, 50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011, Tokyo, Japan, 9/13/11.

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