한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1996년도 추계학술대회 논문집
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- Pages.743-747
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- 1996
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- 2005-8446(pISSN)
여유 자유도를 갖는 Robot Manipulator 최적 충돌 회피 경로 계획에 관한 연구
Optimal Collision-Free Path Planning of Redundant Robotic Manipulators
초록
A Potential Field Method is applied to the proposed algorithm for the planning of collision-free paths of redundant manipulators. The planning is carried out on the base of kinematic configuration. To make repulsive potentials, sources are distributed on the boundaries of obstacles. To escape from local minimum of the main potential and to attack other difficulties of the planning, various potentials are defined simultaneously, Inverse Kinematics Problems of the redundant manipulators are solved by unconstrained optimization method. Computer simulation result of the path planning is presented.
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