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 journalArticle

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 languageEnglish
Pages (from-to)1749-1756
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number621
DOIs
Publication statusPublished - 1998
Externally publishedYes

Fingerprint

Redundant manipulators
Collision avoidance
Motion planning
Genetic algorithms
Trajectories
Manipulators
Feedback control
Control systems
Controllers
Experiments

Keywords

  • Genetic Algorithm
  • Preview Control
  • Redundant Manipulator
  • Unknown Object

ASJC Scopus subject areas

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

Cite this

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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.",
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