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

Paper:

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
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:
Tongxiao Zhang, Mamoru Minami, Wei Song, and Yusaku Nakamura, “A Proposal of Real-Time Configuration Control System for Redundant Manipulators,” J. Robot. Mechatron., Vol.21, No.3, pp. 359-375, 2009.
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