대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1993년도 하계학술대회 논문집 A
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- Pages.395-398
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- 1993
양팔 로보트의 최적궤적 계획에 관한 연구
A Study on optimal trajectory planning for a dual arm robot
- Park, Man-Sik (Dept. of Electrical Eng., Yeungnam Univ.) ;
- Kim, Jong-Hyun (Korea Heavy Industry Co.) ;
- Kim, Jong-Sam (Dept. of Electrical Eng., Yeungnam Univ.) ;
- Lee, Suck-Gyu (Dept. of Electrical Eng., Yeungnam Univ.) ;
- Bae, Jin-Ho (Dept. of Electrical Eng., Yeungnam Univ.)
- 발행 : 1993.07.18
초록
This paper proposes an algorithm to find an optimal trajectory for unspecified paths of the tips of two arms of a dual arm robot. The effective handling a specified object of a dual arm robot closely depends on the effective collision avoidance between parts of robot and the object. For time optimal trajectory without collision, a graphical method is applied for a robot with two degree of freedom. The effectiveness of the proposed method is demonstrated by some simulation results.
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