Trajectory tracking and obstacle avoidance control to unknown objects for redundant manipulators utilizing preview control (1st report, use of path planning by penalty method)

Mamoru Minami, Yoshihiro Nomura, Toshiyuki Asakura

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

We propose a control method for redundant manipulators for working to unknown objects. When a manipulator's hand tracks a desired trajectory on the surface of an object of unknown shape, trajectory tracking and obstacle avoidance should be controlled at the same time. Real-time operation to an unknown object requires to achieve measurement, path planning and control simultaneously. We present a new method which controls redundant manipulators based on the planning of a collision-free arm form assuming a system for 3-D measurement of the object's configuration. The planning problem can be solved by the penalty method as a nonlinear planning problem with restricting conditions. The penalty method gives the collision-free arm form for the desired future trajectory utilizing an imaginary manipulator. We realize the functions of operation and collision-free movement for unknown objects, using a preview controller which changes the current arm form referring to the future arm form, using its redundancy. Effectiveness is confirmed by simulation experiments.

Original languageEnglish
Pages (from-to)3543-3550
Number of pages8
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume62
Issue number601
DOIs
Publication statusPublished - Jan 1 1996
Externally publishedYes

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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