핸드변수에 의한 로보트 매니퓰레이터 제어에 관한 연구

A study on robot manipulator control by hand variables

In this paper, path planning, modelling, and control of manipulators are described. The path planning deals with specifying how to define the motion of hand along straight line paths in the minimum amount of time. A new model was developed for the manipulator, which is based on the classical equations of motion of a rigid body. A new control algorithm was developed which controls the manipulator in terms of the position and orientation of the hand.