This paper proposes a new approach, Multi-Preview Control, to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators, whose control strategy positions between on-line local method and offline global method (path planning). In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-preview uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with highest avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations and evaluate its effectiveness by comparing it with single-preview and path planning.
|出版ステータス||Published - 2010|
|イベント||Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama|
継続期間: 12月 8 2010 → 12月 12 2010
|Other||Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010|
|Period||12/8/10 → 12/12/10|
ASJC Scopus subject areas