제어로봇시스템학회:학술대회논문집
- 1989.10a
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- Pages.615-620
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- 1989
Analysis of singularity and redundancy control for robot-positioner system
- Jeon, E.S. (Hanyang Univ., Dept. of Mech. Eng) ;
- Chang, J.W. (GoldStar Telecommunication Co.,LTD) ;
- Oh, J.E. (Hanyang Univ., Dept. of Mech. Eng) ;
- Yom, S.H. (Hanyang Univ., Dept. of Mech. Eng)
- Published : 1989.10.01
Abstract
Recently industrial robots are often used together with positioners to enhance the system performance for arc welding. In this paper, the redundancy control method is proposed for the robot-positioner system which is modeled as one kinematic model of 7 degrees of freedom. Also, the manipulability measure based on the Jocobian matrix is utilized to visualize the distribution of manipulability in a given section of the working space. An algorithm for the manipulability maximazation in a given task is developed and applied to the robot and positioner system. The simulation results are given in the case of straight line following.
Keywords