Multi-preview configuration control for redundant manipulator by future reachability evaluation

Abstract

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 online 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.

Reconfiguration Manipulability Analyses for Redundant Robots

“…[25] do not concern the possibility that the range space of 1 M i could be reduced by singular configuration and it cannot decouple the interacting motions of multiple tasks even though the redundant degree be much higher than the required motion degree of the multiple tasks. Even in our previous researches about avoidance manipulability optimization [26] and on-line control system [27,28] of a redundant manipulator, we did not guarantee the sustainability of the range space of 1 M i . In this Transactions of the ASME section, we will propose three assumptions named as "Practical Configuration Assumption," "Nonsingular Configuration Assumption" and "Full-Nonsingular Configuration Assumption," they can provide a configuration control criterion as primary control objective to keep the shape-changeability by avoiding singular configuration.…”