Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2002.05a
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- Pages.454-457
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- 2002
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- 2005-8446(pISSN)
A New Method far Singularity Avoidance of 6 DOF Articulated Robot Manipulators using Speed Limiting algorithm
최대속도제한 알고리즘을 이용한 6축 수직다관절 로봇의 새로운 특이점 회피방법 개발
Abstract
This paper presents a new motion control for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. The proposed method was verified using MATLAB-based simulations.
Keywords
- 6 DOF Articulated Robot Manipulators;
- Singularity;
- Speed Limit Avoidance;
- Trajectory Parameter;
- Simulation
- 6 자유도 수직다관절 로봇;
- 특이점;
- 최대속도제한;
- 경로 변수;
- 모의실험;