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JACIII Vol.18 No.3 pp. 443-450
doi: 10.20965/jaciii.2014.p0443
(2014)

Paper:

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

Akira Yanou, Yang Hou, Mamoru Minami,
and Yosuke Kobayashi

Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kitaku, Okayama 700-8530, Japan

Received:
October 15, 2013
Accepted:
March 20, 2014
Published:
May 20, 2014
Creative Commons License
Keywords:
configuration prediction, redundant manipulators, avoidance manipulability, noise environment
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.
Cite this article as:
A. Yanou, Y. Hou, M. Minami, and Y. Kobayashi, “Performance Analysis for First-Order Configuration Prediction for Redundant Manipulators Based on Avoidance Manipulability,” J. Adv. Comput. Intell. Intell. Inform., Vol.18 No.3, pp. 443-450, 2014.
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