Performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability

Yang Hou, Akira Yanou, Mamoru Minami, Yosuke Kobayashi, Satoshi Okazaki

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

1 Citation (Scopus)

Abstract

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. Moreover, we validate the effectiveness of predictive control using first-order configuration prediction in the case of not only straight target trajectory but also curve target trajectory.

Original languageEnglish
Title of host publication6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages203-209
Number of pages7
DOIs
Publication statusPublished - Dec 1 2012
Event2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe, Japan
Duration: Nov 20 2012Nov 24 2012

Publication series

Name6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CountryJapan
CityKobe
Period11/20/1211/24/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software

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    Hou, Y., Yanou, A., Minami, M., Kobayashi, Y., & Okazaki, S. (2012). Performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 (pp. 203-209). [6505132] (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505132