제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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- Pages.497-502
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- 1992
Framwork for task based design of robot manipulators
- Kim, Jin-Oh (The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA, 15213) ;
- Khosla, Pradeep-K. (The Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA, 15213)
- 발행 : 1992.10.01
초록
In this paper, a new design technique called Task Based Design (TBD) is proposed to design an optimal robot manipulator for a given task. Optimal design of a manipulator is difficult because it involves implicit and highly nonlinear functions of many design variables for a complex task. TBD designs an optimal manipulator which performs a given task best, by using a framework called Progressive Design which decomposes the complexity of the task into three steps: kinematic design, planning and kinematic control. An example of TBD is presented to demonstrate the efficiency and effectiveness of our framework.
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