On-line configuration-optimizing control of redundant manipulator based on AMSIP

Yusaku Nakamura, Zhang Tongxiao, Mamoru Minami

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

1 Citation (Scopus)

Abstract

This paper is concerned with real-time trajectory tracking and obstacle avoidance control using the avoidance manipulability of redundant manipulators. We had proposed a new index to evaluate the shape-changing ability in the configuration space while the manipulator's hand tracks a desired trajectory. Using this index we construct a new real-time configuration control system with the preview evaluation by introducing an imaginary manipulator at future time. The proposed system has been evaluated by several simulations and real experiments on the view points of real-time configuration optimization and feasibilities of the whole control system.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages1994-2000
Number of pages7
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: Aug 20 2008Aug 22 2008

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period8/20/088/22/08

Fingerprint

Redundant manipulators
Manipulators
Trajectories
Control systems
Collision avoidance
Experiments

Keywords

  • 1-step GA
  • Avoidance manipulability
  • PA10
  • Preview control
  • Redundant manipulators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Nakamura, Y., Tongxiao, Z., & Minami, M. (2008). On-line configuration-optimizing control of redundant manipulator based on AMSIP. In Proceedings of the SICE Annual Conference (pp. 1994-2000). [4654989] https://doi.org/10.1109/SICE.2008.4654989

On-line configuration-optimizing control of redundant manipulator based on AMSIP. / Nakamura, Yusaku; Tongxiao, Zhang; Minami, Mamoru.

Proceedings of the SICE Annual Conference. 2008. p. 1994-2000 4654989.

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

Nakamura, Y, Tongxiao, Z & Minami, M 2008, On-line configuration-optimizing control of redundant manipulator based on AMSIP. in Proceedings of the SICE Annual Conference., 4654989, pp. 1994-2000, SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology, Tokyo, Japan, 8/20/08. https://doi.org/10.1109/SICE.2008.4654989
Nakamura Y, Tongxiao Z, Minami M. On-line configuration-optimizing control of redundant manipulator based on AMSIP. In Proceedings of the SICE Annual Conference. 2008. p. 1994-2000. 4654989 https://doi.org/10.1109/SICE.2008.4654989
Nakamura, Yusaku ; Tongxiao, Zhang ; Minami, Mamoru. / On-line configuration-optimizing control of redundant manipulator based on AMSIP. Proceedings of the SICE Annual Conference. 2008. pp. 1994-2000
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