2A1-H20 On-line Configuration-optimizing Control of Redundant Manipulator Based on AMSIP

Abstract

We have proposed a new manufacturing system using robot to deal with object with unknown shape by combining an avoidance control system and preview control system. In this paper we propose a new criterion to evaluate the shape-changing ability in the configuration space while tracking the hand-desired trajectory. Using this criterion we constructed real-time configuration control system with preview evaluation by introducing imaginary manipulator in future time. Finally the proposed system was evaluated by several simulations on the point of real-time configuration optimization, and the feasibility of total system was analyzed.