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 on-line 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 on-line 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.
KW - 1-step GA
KW - Multi-preview control
KW - Reachability
KW - Redundant manipulator
UR - http://www.scopus.com/inward/record.url?scp=50249158175&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249158175&partnerID=8YFLogxK
U2 - 10.1109/SICE.2007.4421132
DO - 10.1109/SICE.2007.4421132
M3 - Conference contribution
AN - SCOPUS:50249158175
SN - 4907764286
SN - 9784907764289
T3 - Proceedings of the SICE Annual Conference
SP - 1011
EP - 1018
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -