Author:
Yanou Akira, ,Hou Yang,Minami Mamoru,Kobayashi Yosuke
Abstract
This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators’ future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. The effectiveness of predictive control using first-order configuration prediction is also validated in the case of not only straight target trajectory but also curve target trajectory. In addition, an influence of measurement noise on manipulator’s joint angle is newly considered.
Publisher
Fuji Technology Press Ltd.
Subject
Artificial Intelligence,Computer Vision and Pattern Recognition,Human-Computer Interaction
Reference15 articles.
1. T. Zhang, “Real-Time Configuration Control System for Redundant Manipulators and Analysis of Avoidance Space,” A thesis for the degree of doctor of engineering, University of Fukui, 2009.
2. R. S. Jamisola Jr., A. A. Maciejewski, and R. G. Roberts, “Failure-Tolerant Path Planning for Kinematically Redundant Manipulators Anticipating Locked-Joint Failures,” IEEE Trans. on Robotics, Vol.22, No.4, pp. 603-612, 2006.
3. H. Suzuki and M. Minami, “Visual Servoing to catch fish Using Global/local GA Search,” IEEE/ASME Trans. on Mechatronics, Vol.10, No.3, pp. 352-357, 2005.
4. Y. Hou, A. Yanou, M. Minami, Y. Kobayashi, and S. Okazaki, “Predictive Control of Redundant Manipulators based on Avoidance Manipulability,” Proc. of the 21th Intelligent System Symp. (FAN2011), 2011.
5. Y. Hou, A. Yanou, M. Minami, Y. Kobayashi, and S. Okazaki, “Analysis for Configuration Prediction of Redundant Manipulators based on AvoidanceManipulability,” Proc. of the 29th Annual Conf. of the Robotics Society of Japan (RSJ2011), 2011.