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Multi-Preview Configuration Control for Predictive Behavior of Redundant Manipulator
Yusaku Nakamura,Tongxiao Zhang,Mamoru Minami 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a new approach named Multi-Preview Control to achieve a non-line control of trajectory tracking and obstacle avoidance for redundant manipulator. This control strategy locates between on-line local method and off-line global method(pathplanning). In the trajectory tracking process, the configuration of manipulator is required to possess avoidance manipulability as high as possible inreal-time. Multi-Preview Control uses several future optimal configurations to control current configuration to complete task of trajectory tracking and obstacle avoidance on-line with higher avoidance manipulability and reachability. We compare Multi-Preview Control with Single-Preview Control, and verify the effectiveness and validity of Multi-Preview Control through simulations.