SICE Annual Conference Program and Abstracts
SICE Annual Conference 2004
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Trajectory Tracking Control Redundant Manipulators Based on Avoidance Manipulability
*Hiroshi TanakaMasatoshi TakaharaMamoru Minami
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Pages 15

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Abstract
This paper is concerned with trajectory tracking and obstacle avoidance control using avoidance manipulability of redundant manipulators. In this presentation we define an evaluation method of the ability to avoid obstacle while tracking hand desired trajectory by evaluating the whole shape of redundant manipulator. And, we suggest a control system that the manipulator can keep avoidance ability high.
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© 2004 SICE
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