TY - GEN
T1 - On-line configuration-optimizing control of redundant manipulator based on AMSIP
AU - Nakamura, Yusaku
AU - Tongxiao, Zhang
AU - Minami, Mamoru
PY - 2008
Y1 - 2008
N2 - This paper is concerned with real-time trajectory tracking and obstacle avoidance control using the avoidance manipulability of redundant manipulators. We had proposed a new index to evaluate the shape-changing ability in the configuration space while the manipulator's hand tracks a desired trajectory. Using this index we construct a new real-time configuration control system with the preview evaluation by introducing an imaginary manipulator at future time. The proposed system has been evaluated by several simulations and real experiments on the view points of real-time configuration optimization and feasibilities of the whole control system.
AB - This paper is concerned with real-time trajectory tracking and obstacle avoidance control using the avoidance manipulability of redundant manipulators. We had proposed a new index to evaluate the shape-changing ability in the configuration space while the manipulator's hand tracks a desired trajectory. Using this index we construct a new real-time configuration control system with the preview evaluation by introducing an imaginary manipulator at future time. The proposed system has been evaluated by several simulations and real experiments on the view points of real-time configuration optimization and feasibilities of the whole control system.
KW - 1-step GA
KW - Avoidance manipulability
KW - PA10
KW - Preview control
KW - Redundant manipulators
UR - http://www.scopus.com/inward/record.url?scp=56849107865&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=56849107865&partnerID=8YFLogxK
U2 - 10.1109/SICE.2008.4654989
DO - 10.1109/SICE.2008.4654989
M3 - Conference contribution
AN - SCOPUS:56849107865
SN - 9784907764296
T3 - Proceedings of the SICE Annual Conference
SP - 1994
EP - 2000
BT - Proceedings of SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
T2 - SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
Y2 - 20 August 2008 through 22 August 2008
ER -