Trajectory Tracking Control Redundant Manipulators Based on Avoidance Manipulability

Hiroshi Tanaka; Masatoshi Takahara; Mamoru Minami

doi:10.11499/sicep.2004.0_15_4

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0_15_4

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Trajectory Tracking Control Redundant Manipulators Based on Avoidance Manipulability

*Hiroshi Tanaka, Masatoshi Takahara, Mamoru Minami

Author information

Keywords: Redundant Manipulator, Avoidance Manipulability, Symbolize Evasion Ability

CONFERENCE PROCEEDINGS FREE ACCESS

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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