On-line optimization of avoidance ability for redundant manipulator

Keiji Ikeda, Hiroshi Tanaka, Tong Xiao Zhang, Mamoru Minami, Yasushi Mae

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

28 Citations (Scopus)

Abstract

This study is intended to build a controller of redundant manipulator with the simultaneous ability of trajectory tracking and obstacle avoidance without any preparation of path planning to achieve full automation even for one production of one kind, while keeping the avoidance ability high and keeping its shape away from obstacle to reduce the possibility that the manipulator crashes to the obstacle. To evaluate the avoidance ability of the intermediate links, a scalar value of Avoidance Manipulability Shape Index(AMSI) was proposed, which is independent of the obstacle's shape. On the other hand, the danger to crash to the obstacle is depending on the shape of the obstacle, which could be evaluated by the potential field set around the obstacle. This paper just proposes a control method of the manipulator's shape based on Avoidance Manipulability Shape Index with Potential(AMSIP) to simultaneously avoid obstacle and keep the avoidance ability high while tracking the hand trajectory.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages592-597
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

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ASJC Scopus subject areas

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

Cite this

Ikeda, K., Tanaka, H., Zhang, T. X., Minami, M., & Mae, Y. (2006). On-line optimization of avoidance ability for redundant manipulator. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 592-597). [4058419] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282537