Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

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

19 Citations (Scopus)

Abstract

This paper proposes trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. We propose two evaluation indexes of whole shape of the redundant manipulators. First one is sum of singular value of avoidance matrix. Second one is sum of the volume of avoidance manipulability ellipsoid. We evaluate whole manipulator's shape by two indexes and compare the ability. We found the second one is better than the first. We call the second index avoidance manipulability shape index (AMSI). Finally, by using AMSI, we construct trajectory tracking/obstacle avoidance control system. And we confirm the performance of trajectory tracking by simulations.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1892-1897
Number of pages6
DOIs
Publication statusPublished - Dec 1 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Keywords

  • Avoidance manipulability
  • Avoidance manipulability shape index (AMSI)
  • Redundant manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Tanaka, H., Minami, M., & Mae, Y. (2005). Trajectory tracking of redundant manipulators based on avoidance manipulability shape index. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1892-1897). [1545253] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545253