TY - GEN
T1 - Multi-preview configuration control for predictive behavior of redundant manipulator
AU - Nakamura, Yusaku
AU - Zhang, Tongxiao
AU - Minami, Mamoru
PY - 2009
Y1 - 2009
N2 - This paper proposes a new approach named Multi-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method (path planning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. We compare Multi-Preview Control with Single-Preview Control, and verify the effectiveness and validity of Multi-Preview Control through simulations.
AB - This paper proposes a new approach named Multi-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method (path planning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. We compare Multi-Preview Control with Single-Preview Control, and verify the effectiveness and validity of Multi-Preview Control through simulations.
KW - Multi-preview control
KW - PA10
KW - Redundant manipulator
UR - http://www.scopus.com/inward/record.url?scp=77951104144&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951104144&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77951104144
SN - 9784907764333
T3 - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
SP - 3117
EP - 3123
BT - ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
T2 - ICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
Y2 - 18 August 2009 through 21 August 2009
ER -