조작 성능 지수의 시간 변화율을 고려한 여유 자유도를 갖는 로보트의 제어 방법

Control of redundant robot manipulators using the time-derivatives of manipulability

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulator by increasing the manipulability. The method, however, requires exprecessive energy and gives rather large tracking errors since the manipulability is increased repidly so that the manipulator avoid the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.