Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms)

Mamoru Minami; Hitoshi Takagi; Toshiyuki Asakura

doi:10.1299/kikaic.64.1749

Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms)

Mamoru Minami, Hitoshi Takagi, Toshiyuki Asakura

Research output: Contribution to journal › Article › peer-review

Abstract

This paper is concerned with a control method for trajectory tracking and obstacle avoidance to unknown object by redundant manipulators. When a desired trajectory of a manipulator's hand is on a surface of a object, the object could be an obstacle, and tasks of trajectory tracking and obstacle avoidance should be controlled parallel in the same time. To realize such control to an unknown object, we propose a preview control system, which includes path planning function using GA and potential field around the detected object in the control feedback loop. This system is based on an assumption of real time sensing of the unknown object shape. GA is used to choose the safest configration of the virtual manipulator which is referred by the preview controller. The effects are confirmed by simulation experiments.

Original language	English
Pages (from-to)	1749-1756
Number of pages	8
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	64
Issue number	621
DOIs	https://doi.org/10.1299/kikaic.64.1749
Publication status	Published - 1998
Externally published	Yes

Keywords

Genetic Algorithm
Preview Control
Redundant Manipulator
Unknown Object

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/kikaic.64.1749

Cite this

Minami, M., Takagi, H., & Asakura, T. (1998). Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms). Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 64(621), 1749-1756. https://doi.org/10.1299/kikaic.64.1749

Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms). / Minami, Mamoru; Takagi, Hitoshi; Asakura, Toshiyuki.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 64, No. 621, 1998, p. 1749-1756.

Research output: Contribution to journal › Article › peer-review

Minami, M, Takagi, H & Asakura, T 1998, 'Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms)', Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 64, no. 621, pp. 1749-1756. https://doi.org/10.1299/kikaic.64.1749

Minami, Mamoru ; Takagi, Hitoshi ; Asakura, Toshiyuki. / Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms). In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 1998 ; Vol. 64, No. 621. pp. 1749-1756.

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Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control (2nd Report, Use of Path Planning by Genetic Algorithms)

Abstract

Keywords

ASJC Scopus subject areas

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