TY - GEN
T1 - Multi-preview configuration control for redundant manipulator by future reachability evaluation
AU - Zhang, Tong Xiao
AU - Minami, Mamoru
AU - Song, Wei
PY - 2007
Y1 - 2007
N2 - This paper proposes a new approach to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators without prechecking path-planning in whole trajectory tracking. In the trajectory tarcking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. In this paper, we present a new idea: Multi-Preview Control, which uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance online with high avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations of comparing single-preview control with multi-preview control.
AB - This paper proposes a new approach to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators without prechecking path-planning in whole trajectory tracking. In the trajectory tarcking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. In this paper, we present a new idea: Multi-Preview Control, which uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance online with high avoidance manipulability and reachability. We verify the validity of multi-preview control through simulations of comparing single-preview control with multi-preview control.
UR - http://www.scopus.com/inward/record.url?scp=51349169527&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349169527&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399166
DO - 10.1109/IROS.2007.4399166
M3 - Conference contribution
AN - SCOPUS:51349169527
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3503
EP - 3508
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -