Availability of Multi-Preview Control of PA10 with avoidance manipulability analyses

Author

Hou, Yang ; Nakamura, Yusaku ; Yamazaki, Maki ; Zhang, Tongxiao ; Minami, Mamoru

Author_Institution

Grad. Sch. of Eng., Univ. of Fukui, Fukui, Japan

fYear

2010

fDate

18-21 Aug. 2010

Firstpage

2377

Lastpage

2382

Abstract

This paper proposes a new approach named Multi-Preview Control that is developed from Single-Preview Control to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators effectively without predefined working object´s shape. In the trajectory tracking process, the manipulator is required to keep a configuration with maximal avoidance manipulability in real-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. In addition, we analyze the relationship between distribution of AMSI(Avoidance Manipulability Shape Index) and shape of manipulator. We verify the effectiveness and validity of Multi-Preview Control through simulations and experiments.

Keywords

collision avoidance; optimal control; predictive control; redundant manipulators; shape control; tracking; PA10; avoidance manipulability analyses; avoidance manipulability shape index; manipulator shape; maximal avoidance manipulability; multipreview control; obstacle avoidance; online control; optimal configurations; redundant manipulators; single-preview control; trajectory tracking; Ellipsoids; Indexes; Joints; Manipulators; Shape; Trajectory; AMSI; Multi-Preview Control; PA10; Redundant manipulators; Single-Preview Control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference 2010, Proceedings of

Conference_Location

Taipei

Print_ISBN

978-1-4244-7642-8

Type

conf

Filename

5602304