1A1-3 Predictive Control of Redundant Manipulators based on Avoidance Manipulability

スポンサーリンク

概要

• 論文の詳細を見る

• This paper proposes a new approach named predictive control of redundant manipulators based on avoidance manipulability 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.

• 一般社団法人日本機械学会の論文
• 2011-09-01

著者

• MINAMI Mamoru

  Okayama University

• YANOU Akira

  Okayama University

• Hou Yang

  Okayama University

• Kobayashi Yosuke

  Okayama University

• Okazaki Satoshi

  Okayama University

関連論文

• 1A1-4 Control of Hyper-Redundancy Mobile Manipulator with Multi-Elbows braced for High Accuracy / Low-Energy Consumption
• 1A1-3 Predictive Control of Redundant Manipulators based on Avoidance Manipulability

スポンサーリンク