Multi-preview configuration control for redundant manipulator by future reachability evaluation

Tong Xiao Zhang, Mamoru Minami, Wei Song

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

2 Citations (Scopus)

Abstract

This paper proposes a new approach to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators without prechecking path-planning in whole trajectory tracking. In the trajectory tarcking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. In this paper, we present a new idea: Multi-Preview Control, which uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance online with high avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations of comparing single-preview control with multi-preview control.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages3503-3508
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Zhang, T. X., Minami, M., & Song, W. (2007). Multi-preview configuration control for redundant manipulator by future reachability evaluation. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 3503-3508). [4399166] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399166