Real-time trajectory tracking/quasi-optimal obstacle avoidance control of redundant manipulators

Keiji Ikeda, Mamoru Minami, Yasushi Mae

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


This paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. We proposed a robot control system to deal with unknown object by combining an avoidance control system and preview control system. However, through the simulation studies, it became clear that the shape of redundant manipulator was not always kept to the best configuration on the view point of shape-changing ability. In this paper we propose a new criterion to evaluate the shape-change ability in the configuration space while tracking the hand-desired trajectory. Using this criterion we constructed real-time configuration control system with preview evaluation by imaginary manipulator in future time. Finally the proposed system was evaluated by several simulations on the point of real-time configuration, and the feasibility of total system was analyzed.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Avoidance manipulability shape index with potential
  • Quasi-optimal avoidance control
  • Redundant manipulator

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Real-time trajectory tracking/quasi-optimal obstacle avoidance control of redundant manipulators'. Together they form a unique fingerprint.

Cite this