Top > JRM > A Proposal of Real-Time Configuration Control System for Redun ...

single-rb.php

JRM Vol.21 No.3 pp. 359-375
doi: 10.20965/jrm.2009.p0359
(2009)

Paper:

Views over last 60 days: 450

A Proposal of Real-Time Configuration Control System for Redundant Manipulators

Tongxiao Zhang, Mamoru Minami, Wei Song, and Yusaku Nakamura

Graduate school of Engineering, University of Fukui
3-9-1 Bunkyo, Fukui 910-8507, Japan

Received:
September 30, 2008
Accepted:
February 28, 2009
Published:
June 20, 2009
Creative Commons License
Keywords:
redundant manipulator, avoidance manipulability, AMSIP, preview control, 1-step GA
Abstract
This paper is concerned with a real-time control system of trajectory tracking and obstacle avoidance using an avoidance manipulability measure for redundant manipulators. To perform the tasks adaptively without path-planning, information on the local environment is naturally restricted by limited recognition time. This means an adaptive configuration control has to manage its shape in real-time and without adequate information on its surroundings. Therefore, when the manipulator executes a task adaptively in a dynamic environment, its avoidance manipulability should always be maintained as high as possible to prepare for sudden avoiding. As a measure for gauging avoidance manipulability, we first propose a new index, “AMSIP.” By combining a concept of ”preview control” with real-time optimization of AMSIP distribution found by “1-step GA,” we next propose a new configuration control method, with future information being referred locally but effectively. The proposed system has been evaluated in simulations in terms of real-time configuration optimization, and the complete system has been proved to be feasible and practical.
Cite this article as:
T. Zhang, M. Minami, W. Song, and Y. Nakamura, “A Proposal of Real-Time Configuration Control System for Redundant Manipulators,” J. Robot. Mechatron., Vol.21 No.3, pp. 359-375, 2009.
Data files:
References
  1. [1] S. Seereeram and J. T. Wen, “A Global Approach to Path Planning for Redundant Manipulators,” IEEE Transactions on Robotics and Automation, Vol.11, No.1, pp. 152-160, 1995.
  2. [2] A. Mohri, D. X. Yang, and M. Yamamoto, “Collision Free Trajectory Planning for Manipulator Using Potential Function,” IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 3069-3074, 1995.
  3. [3] S. Ma and M. Watanabe, “Minimum time path-tracking control of redundant manipulators,” Int. Conf. on Intelligent Robots and Systems, Takamatsu, Vol.1, pp. 27-32, 2000.
  4. [4] R. S. Jamisola, Jr., A. A. Maciejewski, and R. G. Roberts, “Failure-Tolerant Path Planning for Kinematically Redundant Manipulators Anticipating Locked-Joint Failures,” IEEE Transactions on Robotics, Vol.22, No.4, pp. 603-612, 2006.
  5. [5] J. Choi and E. Amir, “Factor-Guided Motion Planning for a Robot Arm,” Int. Conf. on Intelligent Robots and Systems, San Diego, pp. 27-32, 2007.
  6. [6] J. M. Ahuactzin and K. K. Gupta, “The Kinematic Roadmap: A Motion Planning Based Global Approach for Inverse Kinematics of Redundant Robots,” IEEE Transactions on Robotics and Automation, Vol.15, No.4, pp. 653-669, 1999.
  7. [7] K. Nagatani, T. Hirayama, A. Gofuku, and Y. Tanaka, “Motion planning for mobile manipulator with keeping manipulability,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, Vol.2, pp. 1663-1668, 2002.
  8. [8] K. Glass, R. Colbaugh, D. Lim, and H. Seraji, “Real-time collision avoidance for redundant manipulators,” IEEE Transactions on Robotics and Automation, Vol.11, pp. 448-457, 1995.
  9. [9] H. Seraji and B. Bon, “Real-Time Collision Avoidance for Position-Controlled Manipulators,” IEEE Transactions on Robotics and Automation, Vol.15, No.4, pp. 670-677, 1999.
  10. [10] L. Zlajpah and B. Nemec, “Kinematic Control Algorithms for On-line Obstacle Avoidance for Redundant Manipulator,” Int. Conf. on Intelligent Robots and Systems, Lausanne, Vol.2, pp. 1898-1903, 2002.
  11. [11] K.-K. Lee and M. Buss, “Obstacle Avoidance for Redundant Robots Using Jacobian Transpose Method,” Int. Conf. on Intelligent Robots and Systems, San Diego, pp. 3509-3514, 2007.
  12. [12] G. Marani, J. Kim, J. Yuh, and W. K. Chung, “A real-time approach for singularity avoidance in resolved motion rate control of robotic manipulator,” Proc. of IEEE/RSJ Int. Conf. on Robotics and Automation, Washington, Vol.2, pp. 1973-1978, 2002.
  13. [13] T. Yoshikawa, “Measure of Manipulability for Robot Manipulators,” Journal of the Robotics Society of Japan, Vol.2, No.1, pp. 63-71, 1984 (in Japanese).
  14. [14] T. Yoshikawa, “Manipulability of Robot Mechanisms,” The Int. Journal of Robotics Research, Vol.4, No.2, pp. 3-9, 1985.
  15. [15] S. Lee, “Dual Redundant Arm Configuration Optimization with Task-oriented Dual Arm Manipulability,” IEEE Transactions on Robotics and Automation, Vol.5, pp. 78-97, 1989.
  16. [16] P. Chiaccho, S. Chiaverini, L. Sciavicco, and B. Siciliano, “Global Task Space Manipulability Ellipsoids for Multiple-Arm System,” IEEE Transactions on Robotics and Automation, Vol.7, pp. 678-685, 1991.
  17. [17] A. Bicchi, C. Melchiorri, and D. Balluchi, “On the Mobility and Manipulability of General Multiple Limb Robots,” IEEE Transactions on Robotics and Automation, Vol.11, pp. 215-228, 1995.
  18. [18] R. Koeppe and T. Yoshikawa, “Dynamic Manipulability Analysis of Compliant Motion,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble, Vol.3, pp. 1472-1478, 1997.
  19. [19] T. Yoshikawa, “Dynamic Manipulability of Robot Manipulators,” IEEE Int. Conf. on Robotics and Automation, Vol.2, pp. 1033-1038, 1985.
  20. [20] R. Kurazume and T. Hasegawa, “A New Index of Serial-Link Manipulator Performance Combining Dynamic Manipulability and Manipulating Force Ellipsoid,” IEEE Transactions on Robotics, Vol.22, No.5, pp. 1022-1028, 2006.
  21. [21] A. A. Maciejewski and C. A. Klein, “Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments,” The Int. Journal of Robotics Research, Vol.4, No.3, pp. 109-117, 1985.
  22. [22] Y. Nakamura, H. Hanafusa, and T. Yoshikawa, “Task-Priority Based Redundancy Control of Robot Manipulators,” The Int. Journal of Robotics Research, Vol.6, No.2, pp. 3-15, 1987.
  23. [23] B. Siciliano and J.-J. E. Slotine, “A General Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems,” Fifth Int. Conf. on Advanced Robotics, Vol.2, pp. 1211-1216, 1991.
  24. [24] M. Minami, Y. Nomura, and T. Asakura, “Trajectory Tracking and Obstacle Avoidance Control to Unknown Objects for Redundant Manipulators Utilizing Preview Control,” Transactions of the Japan Society of Mechanical Engineers, Vol.62, No.601, pp. 3543-3550, 1996 (in Japanese).
  25. [25] M. Minami, Y. Nomura, and T. Asakura, “Preview and Postview Control System for Trajectory Tracking and Obstacle Avoidance to Unknown Objects for Redundant Manipulators,” Journal of the Robotics Society of Japan, Vol.15, No.4, pp. 573-580, 1997 (in Japanese).
  26. [26] M. Minami, Y. Nomura, and T. Asakura, “Avoidance Manipulability for Redundant Manipulators,” Journal of the Robotics Society of Japan, Vol.17, No.6, pp. 887-895, 1999 (in Japanese).
  27. [27] H. Tanaka, M. Minami, and Y. Mae, “Trajectory Tracking of Redundant Manipulators Based on Avoidance Manipulability Shape Index,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 1892-1897, 2005.
  28. [28] H. Seraji, “Configuration Control of Redundant Manipulators: Theory and Implementation,” IEEE Transactions on Robotics and Automation, Vol.5, No.4, pp. 472-490, 1989.
  29. [29] H. Suzuki and M. Minami, “Visual Servoing to Catch Fish Using Global/Local GA Search,” IEEE/ASME Transactions on Mechatronics, Vol.10, No.3, pp. 352-357, 2005.
  30. [30] T. Yoshikawa, “Foundations of Robotics: Analysis and Control,” The MIT Press, 1990.
  31. [31] M. Sakawa, “Optimization of Nonlinear Systems – From Single Objective to Multiobjective,” Morikita Publishing Co., Ltd, 1994 (in Japanese).

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Copyright© 2009 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Oct. 01, 2024