대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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- Pages.941-944
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- 1988
기계적 로보트팔을 위한 최적 경로 설계
Optimum Path Planning for Mechanical Manipulators
- Kim, Tae-San (Dept. of Electronic Engineering, Kyung-Hee Univ.) ;
- Bae, Jun-Kyung (Dept. of Electronic Engineering, Kyung-Hee Univ.) ;
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Park, Chong-Kug
(Dept. of Electronic Engineering, Kyung-Hee Univ.)
- 발행 : 1988.07.01
초록
To assure a successful completion of an assigned task without interruption, the hand of mechnical manipulator often travels along a preplanned path. This paper presents a method of obtaining a time sechdule of velocities and acceleration along the path, under the constraints. Because of the involvement of a linear performance index and a largr number of nonlinear constraints, the "method of approximate programming (AMP)" is applied. To overcome the false solutions AMP is modified. To reduce the computing time, a "direct approximate programming algorithm (DAPA)" is developed.
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