대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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- Pages.937-940
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- 1988
로보트의 소비 에너지 최소화를 위한 궤도 계획에 관한 연구
A Study on the Minimum - Energy Trajectories Planning for Industrial Robot
- Choi, Doe-Yeong (Dept. of Electronics, Konkuk University) ;
- Kwon, Syng-Hoe (Dept. of Electronics, Konkuk University) ;
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Park, In-Kap
(Dept. of Electronics, Konkuk University) ;
- Kim, Hyung-Lae (Dept. of Electronics, Konkuk University)
- 발행 : 1988.07.01
초록
The problem of minimization of energy, consumed by the robot manipulator, is important, notably for larger manipulators, higher working speeds, and loads. Obviously, the stated problem requires the application of optimal control theory, which is being successfully applied for linear system and certain classes of nonlinear systems. However, the application of optimal control theory(in energy or time optimization) leads to substantial practical difficulties, so that significant simplifications are usually performed, either in model complexity or by neglecting the existing constraints. In this paper the problem of obtaining such an optimization method. which would take into account the complete system dynamics and all the constraints is considered. The only method found to be suitable for such a complex optimization should be based on dynamic programming.
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