여유자유도 로보트 충격제어

• 영문명: Control of Redundant Manipulatorx Using Null-Space Dynamics
• 발행기관: 강원대학교 산업기술연구소
• 저자명: 김일환(Il Hwan Kim)
• 간행물 정보: 『산업기술연구』vol.15, 63~70쪽, 전체 8쪽
• 주제분류: 공학 > 공학일반
• 파일형태: PDF
• 발행일자: 1995.09.30

영문 초록

This paper presents an impact control algorithm for reducing the potentially damaging effects by interation of redundant manipulators with their environments. In the proposed control algorithm, the redundancy is resolved at the torque level by locally minimizing joint torque, subject to the operational space dynamic formulation which maps the joint torque set into the operational forces. For a given pre-impact velocity of the manipulator, the proposed approach is on generating joint space trajectories throughout the motion near the contact which instantaneously minimize the impulsive force which is a scalar function of manipulator’s configurations. The comparative evaluation of the proposed algorithm with a local torque optimization algorithm with a local torque optimization algorithm without reducing impact is performed by computer simulation. The simulation results illustrate the effeciveness of the algorithm in reducing both the effects of impact and large torque requirements.

목차

ABSTRACT

1. 서론

2. 여유자유도 해석

3. 로보트 충격 모델

4. 충격제어 알고리즘의 제안

5. 수치적 시뮬레이션

6. 결론

참고문헌