SICE - Model predictive control method for position control and obstacle avoidance of hyper-redundant binary manipulator

2014 SICE Annual Conference (SICE)

Author(s): Kensuke Maeda ; Eiji Konaka
Publisher: SICE
Publication Date: 1 September 2014
Conference Location: Sapporo, Japan
Conference Date: 9 September 2014
Page(s): 1,262 - 1,267
ISBN (Electronic): 978-4-9077-6446-3
ISBN (DVD): 978-4-9077-6445-6
DOI: 10.1109/SICE.2014.6935262

In this study, a binary manipulator is considered as a controlled plant. The control objective is to bring the end effector of the binary manipulator close to a given target point and orientation.... View More