scholarly journals Preview and Postview Control System for Trajectory Tracking and Obstacle Avoidance to Unknown Ojbects for Redundant Manipulators.

1997 ◽  
Vol 15 (4) ◽  
pp. 573-580 ◽  
Author(s):  
Mamoru Minami ◽  
Yoshihiro Nomura ◽  
Toshiyuki Asakura
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Redundant Manipulators

Performance Analysis for First-Order Configuration Prediction for Redundant Manipulators Based on Avoidance Manipulability

2014 ◽  
Vol 18 (3) ◽  
pp. 443-450
Author(s):  
Akira Yanou ◽  
◽  
Yang Hou ◽  
Mamoru Minami ◽  
Yosuke Kobayashi
Keyword(s):  
Obstacle Avoidance ◽  
Predictive Control ◽  
Trajectory Tracking ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Current Configuration ◽  
First Order ◽  
Target Trajectory ◽  
Tracking Process ◽  
On Line

This paper explores a performance of first-order configuration prediction for redundant manipulators based on avoidance manipulability in order to achieve an on-line control of trajectory tracking and obstacle avoidance for redundant manipulators. In the trajectory tracking process, manipulator is required to keep a configuration with maximal avoidance manipulability in real time. Predictive control in this paper uses manipulators’ future configurations to control current configuration aiming at completing tasks of trajectory tracking and obstacle avoidance on-line and simultaneously with higher avoidance manipulability. We compare Multi-Preview Control with predictive control using redundant manipulator, and show the results through simulations. The effectiveness of predictive control using first-order configuration prediction is also validated in the case of not only straight target trajectory but also curve target trajectory. In addition, an influence of measurement noise on manipulator’s joint angle is newly considered.

Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking

2007 ◽  
Vol 11 (2) ◽  
pp. 135-141
Author(s):  
Mamoru Minami ◽  
◽  
Hiroshi Tanaka ◽  
Yasushi Mae ◽  
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Trajectory Tracking ◽  
Shape Index ◽  
Mobile Manipulator ◽  
Redundant Manipulators ◽  
Mobile Manipulators ◽  
Redundant Manipulator ◽  
Configuration Control ◽  
Control Study

We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.

Control and Research of Bionic Robotic Fish Based on Arduino

2013 ◽  
Vol 706-708 ◽  
pp. 691-694
Author(s):  
Tian Lin Song ◽  
Ya Ping Lu ◽  
Hai Qing Liu
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Color Discrimination ◽  
Robotic Fish ◽  
And Control

It adopts the Arduino controller and control system of the extension circuit to complete all kinds of motions for the more joints’ bionic robotic fish of the different structures. Adding different kinds of sensors, it can also achieve many functions, such as obstacle avoidance, trace, color discrimination, etc.

scholarly journals Obstacle Avoidance in Groping Locomotion of a Humanoid Robot

10.5772/5783 ◽  
2005 ◽  
Vol 2 (3) ◽  
pp. 26 ◽  
Author(s):  
Hanafiah Yussof ◽  
Mitsuhiro Yamano ◽  
Yasuo Nasu ◽  
Kazuhisa Mitobe ◽  
Masahiro Ohka
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Force Control ◽  
Humanoid Robot ◽  
Flat Surface ◽  
Rotation Angle ◽  
Basic Research ◽  
Orientation Data ◽  
Robotic Arms ◽  
End Effectors

This paper describes the development of an autonomous obstacle-avoidance method that operates in conjunction with groping locomotion on the humanoid robot Bonten-Maru II. Present studies on groping locomotion consist of basic research in which humanoid robot recognizes its surroundings by touching and groping with its arm on the flat surface of a wall. The robot responds to the surroundings by performing corrections to its orientation and locomotion direction. During groping locomotion, however, the existence of obstacles within the correction area creates the possibility of collisions. The objective of this paper is to develop an autonomous method to avoid obstacles in the correction area by applying suitable algorithms to the humanoid robot's control system. In order to recognize its surroundings, six-axis force sensors were attached to both robotic arms as end effectors for force control. The proposed algorithm refers to the rotation angle of the humanoid robot's leg joints due to trajectory generation. The algorithm relates to the groping locomotion via the measured groping angle and motions of arms. Using Bonten-Maru II, groping experiments were conducted on a wall's surface to obtain wall orientation data. By employing these data, the humanoid robot performed the proposed method autonomously to avoid an obstacle present in the correction area. Results indicate that the humanoid robot can recognize the existence of an obstacle and avoid it by generating suitable trajectories in its legs.

A Novel Full-Automatic Garbage Salvage Ship

2013 ◽  
Vol 791-793 ◽  
pp. 1921-1924
Author(s):  
Ke Ling Luo ◽  
Xu Dong Li ◽  
De Rui Song ◽  
Ping Wang ◽  
Jiao Fu ◽  
...  
Keyword(s):  
Control System ◽  
Obstacle Avoidance ◽  
Single Chip ◽  
Single Chip Microcomputer ◽  
Power Circuit ◽  
The Core ◽  
Photoelectric Sensor

The garbage salvage ship is made from polystyrene plastic as hull framework and STC89C52 single-chip microcomputer to control the core, and consists of DC gear motor, photoelectric sensor, power circuit and other circuits. The system uses STC89C52 to control the boat to move forward, backward or turn through the I/O port. Tracing is finished by infrared obstacle avoidance sensor E18-D80NK. Working manner of the infrared obstacle avoidance sensor E18-D80NK was introduced and its application scheme based on STC89C52 single-chip microcomputer in the control system of garbage salvage ship was put forward.

scholarly journals The Research on the Visual Obstacle-Avoidance Optimization in Robots Control

2013 ◽  
Vol 756-759 ◽  
pp. 372-375
Author(s):  
Hong Bin Tian
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Obstacle Avoidance ◽  
Visual Information ◽  
Structural Model ◽  
Three Dimension ◽  
Coordination Control ◽  
Dimension Space ◽  
The Mathematical Model ◽  
Very High

In order to increase the movement capability of the robotic visual system in three-dimension space, the paper designs an obstacle-avoidance algorithm based on robotic movement visual by effectively processing the visual information colleted by the robotics. This paper establishes a structural model of coordination control system. The obstacles can be effectively identified and avoided by the obstacle-avoidance theory in the robotics coordination operation. The mathematical model of the obstacle-avoidance algorithm can predict the locations of the obstacles. The experiment proves the proposed algorithm can avoid the obstacles in three-dimension space and the accuracy is very high.

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