제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Geometrical approach to optimal load distribution for two cooperation robots considering internal force

내부힘을 고려한 두 로봇의 최적 부하 분배 문제의 기하학적 접근

  • Kwon, Woong (Dept. of Control & Instrumentation Eng. Seoul National University, Automation and Systems Research Institute) ;
  • Choi, Myoung-Hwan (Dept. of Control & Instrumentation Eng. Kang Won University) ;
  • Lee, Bum-Hee (Dept. of Control & Instrumentation Eng. Seoul National University, Automation and Systems Research Institute) ;
  • Ko, Myoung-Sam (Dept. of Control & Instrumentation Eng. Seoul National University, Automation and Systems Research Institute)
  • 권웅 (서울대학교 제어계측공학과, 자동화시스템 공동연구소) ;
  • 최명환 (강원대학교 제어계측공학과) ;
  • 이범희 (서울대학교 제어계측공학과, 자동화시스템 공동연구소) ;
  • 고명삼 (서울대학교 제어계측공학과, 자동화시스템 공동연구소)
  • Published : 1992.10.01
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Abstract

The load distribution problem of two cooperating robots grasping one object is studied. The optimal joint torque needed for the desired motion is obtained by using a new objective function. A new objective function is defined for the minimization of joint torque effort and internal force. The optimal solution can be found by geometrical approach and analysis using the concept of force ellipsoid. Simulation results are presented with 6DOF PUMA robots.

Keywords