TY - GEN
T1 - Performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability
AU - Hou, Yang
AU - Yanou, Akira
AU - Minami, Mamoru
AU - Kobayashi, Yosuke
AU - Okazaki, Satoshi
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. Moreover, we validate the effectiveness of predictive control using first-order configuration prediction in the case of not only straight target trajectory but also curve target trajectory.
AB - This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators' future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. Moreover, we validate the effectiveness of predictive control using first-order configuration prediction in the case of not only straight target trajectory but also curve target trajectory.
UR - http://www.scopus.com/inward/record.url?scp=84877838830&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84877838830&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2012.6505132
DO - 10.1109/SCIS-ISIS.2012.6505132
M3 - Conference contribution
AN - SCOPUS:84877838830
SN - 9781467327428
T3 - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
SP - 203
EP - 209
BT - 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
T2 - 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
Y2 - 20 November 2012 through 24 November 2012
ER -