Trajectory tracking control redundant manipulators based on avoidance manipulability

Hiroshi Tanaka, Masatoshi Takahara, Mamoru Minami

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

1 Citation (Scopus)


This paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. Our previous researches, we proposed a robot control system to deal with unknown object by combining an avoidance control system and preview control system. However, through the simulation studies, it became clear that the shape of redundant manipulator was not always kept to the best configuration on the view point of the avoidance ability. In this presentation we define an evaluation method of the ability to avoid obstacle while tracking hand desired trajectory by evaluating the whole shape of the redundant manipulator. Finally, we suggest a control system that the manipulator can keep high avoidance ability.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Number of pages6
Publication statusPublished - 2004
Externally publishedYes
EventSICE Annual Conference 2004 - Sapporo, Japan
Duration: Aug 4 2004Aug 6 2004


OtherSICE Annual Conference 2004



  • Avoidance Manipulability
  • Redundant Manipulator
  • Symbolize Evasion Ability

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tanaka, H., Takahara, M., & Minami, M. (2004). Trajectory tracking control redundant manipulators based on avoidance manipulability. In Proceedings of the SICE Annual Conference (pp. 341-346). [WAI-15-4]