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

Yusaku Nakamura; Zhang Tongxiao; Mamoru Minami

doi:10.1109/SICE.2008.4654989

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

Yusaku Nakamura, Zhang Tongxiao, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Pages	1994-2000
Number of pages	7
DOIs	https://doi.org/10.1109/SICE.2008.4654989
Publication status	Published - 2008
Externally published	Yes
Event	SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan Duration: Aug 20 2008 → Aug 22 2008

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Country/Territory	Japan
City	Tokyo
Period	8/20/08 → 8/22/08

Keywords

1-step GA
Avoidance manipulability
PA10
Preview control
Redundant manipulators

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2008.4654989

Cite this

Nakamura, Y., Tongxiao, Z., & Minami, M. (2008). On-line configuration-optimizing control of redundant manipulator based on AMSIP. In Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology (pp. 1994-2000). [4654989] (Proceedings of the SICE Annual Conference). 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 SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology. 2008. p. 1994-2000 4654989 (Proceedings of the SICE Annual Conference).

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

Nakamura, Y, Tongxiao, Z & Minami, M 2008, On-line configuration-optimizing control of redundant manipulator based on AMSIP. in Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology., 4654989, Proceedings of the SICE Annual Conference, 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

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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.",

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AB - 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.

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

Abstract

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Keywords

ASJC Scopus subject areas

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