Performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability

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. Moreover, we validate the effectiveness of predictive control using first-order configuration prediction in the case of not only straight target trajectory but also curve target trajectory.

Analysis for configuration prediction of redundant manipulators based on AMSIP distribution

“…In other words, predictive control of redundant manipulator considering avoidance manipulability may realize fast and precision working. Although the effectiveness of predictive control is confirmed in the case of straight line target trajectory [2], [3], it is not confirmed in the case of curve target trajectory. Therefore this paper explores the Yang Hou, Akira Yanou, Mamoru Minami, Yosuke Kobayashi and Satoshi Okazaki are with Graduate School of Natural Science and Technology, Okayama University Tsushimanaka3-1-1 , Okayama, Japan.…”

Performance Analysis for First-Order Configuration Prediction for Redundant Manipulators Based on Avoidance Manipulability

“…In other words, predictive control of redundant manipulator considering avoidance manipulability may realize quick and accurate work. About the redundant part l l l(t) which denotes in control formula of Multi-Preview Control, we have proposed a concept named predictive control which makes the configuration of imaginary manipulator and the pre- dictive configuration of actual manipulator closer [4,5]. It also means that the actual manipulator's configuration will be closer to the imaginary configuration to keep high avoidance manipulability by using predictive configuration as shown in Fig.…”

“…2. Although the effectiveness of the first-order configuration prediction in the predictive control was confirmed in the case of straight target trajectory [4,5], the case of curve target trajectory aiming at realization of arbitrary target trajectory tracking with firstorder configuration prediction has not been considered.…”

“…In this paper, we show the performance of first-order configuration prediction for redundant manipulator based on AMSIP in the case of straight target trajectory and curve target trajectory, and compare it to Multi-Preview Control [6]. Moreover, in order to check the performance of first-order configuration prediction of redundant manipulator under noise environment, an influence of measurement noise on manipulator's joint angle is newly considered.…”