Multi-preview configuration control for predictive behavior of redundant manipulator

Yusaku Nakamura, Tongxiao Zhang, Mamoru Minami

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

2 Citations (Scopus)

Abstract

This paper proposes a new approach named Multi-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method (path planning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. We compare Multi-Preview Control with Single-Preview Control, and verify the effectiveness and validity of Multi-Preview Control through simulations.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages3117-3123
Number of pages7
Publication statusPublished - Dec 1 2009
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: Aug 18 2009Aug 21 2009

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period8/18/098/21/09

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Keywords

  • Multi-preview control
  • PA10
  • Redundant manipulator

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Nakamura, Y., Zhang, T., & Minami, M. (2009). Multi-preview configuration control for predictive behavior of redundant manipulator. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 3117-3123). [5334035] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).