제어로봇시스템학회:학술대회논문집
- 1997.10a
- /
- Pages.756-759
- /
- 1997
Evaluation of dynamical performance of 3 dimensional multi-arm robot
3차원 다중 로봇의 동적 성능 평가
Abstract
Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.
Keywords
- 3-dim multi-arm robot;
- a acceleration set;
- a isotropic acceleration radius;
- a isotropic velocity radius