Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

Hiroshi Tanaka; Mamoru Minami; Yasushi Mae

doi:10.1109/IROS.2005.1545253

Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

Hiroshi Tanaka, Mamoru Minami, Yasushi Mae

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Citations (Scopus)

Abstract

This paper proposes trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. We propose two evaluation indexes of whole shape of the redundant manipulators. First one is sum of singular value of avoidance matrix. Second one is sum of the volume of avoidance manipulability ellipsoid. We evaluate whole manipulator's shape by two indexes and compare the ability. We found the second one is better than the first. We call the second index avoidance manipulability shape index (AMSI). Finally, by using AMSI, we construct trajectory tracking/obstacle avoidance control system. And we confirm the performance of trajectory tracking by simulations.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	4083-4088
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545253
Publication status	Published - 2005
Externally published	Yes

Publication series

Name	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

Avoidance manipulability
Avoidance manipulability shape index (AMSI)
Redundant manipulator

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

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10.1109/IROS.2005.1545253

Cite this

Tanaka, H., Minami, M., & Mae, Y. (2005). Trajectory tracking of redundant manipulators based on avoidance manipulability shape index. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 4083-4088). Article 1545253 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545253

Trajectory tracking of redundant manipulators based on avoidance manipulability shape index. / Tanaka, Hiroshi; Minami, Mamoru; Mae, Yasushi.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 4083-4088 1545253 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tanaka, H, Minami, M & Mae, Y 2005, Trajectory tracking of redundant manipulators based on avoidance manipulability shape index. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545253, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 4083-4088. https://doi.org/10.1109/IROS.2005.1545253

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AB - This paper proposes trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. We propose two evaluation indexes of whole shape of the redundant manipulators. First one is sum of singular value of avoidance matrix. Second one is sum of the volume of avoidance manipulability ellipsoid. We evaluate whole manipulator's shape by two indexes and compare the ability. We found the second one is better than the first. We call the second index avoidance manipulability shape index (AMSI). Finally, by using AMSI, we construct trajectory tracking/obstacle avoidance control system. And we confirm the performance of trajectory tracking by simulations.

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Trajectory tracking of redundant manipulators based on avoidance manipulability shape index

Abstract

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Keywords

ASJC Scopus subject areas

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