대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(I)
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- Pages.230-233
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- 1987
기계적 매니퓰 레이터의 시변 물체 회피에서의 제약조건인식
constraints Identification in Time-varying Obstacle Avoidance for Mechanical Manipulators
- 이범희 (서울공대 제어계측공학과 로보틱스 및 지능시스템 연구실) ;
- 고명삼 (서울공대 제어계측공학과 로보틱스 및 지능시스템 연구실) ;
- 하인중 (서울공대 제어계측공학과 로보틱스 및 지능시스템 연구실)
- Lee, Bum-Hee (Dept. of Control & Instrumentation Engineering, Seoul National University) ;
- Ko, Myoung-Sam (Dept. of Control & Instrumentation Engineering, Seoul National University) ;
- Ha, In-Joong (Dept. of Control & Instrumentation Engineering, Seoul National University)
- 발행 : 1987.07.03
초록
This paper addresses the identification of various constraints in time-varying obstacle avoidance for mechanical manipulators. The manipulator constraints include the smoothness constraint and torque constraint, while the environmental constraints include a motion priority, a traveling time constraint, a path constraint, and a collision constraint. The inherent difficulties in combining these constraints are discussed with a suggestion for the purpose of time-varying obstacle avoidance.
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